2019-07-30T19:08:59.793Z,1564513739.793 [Supervisor](DEBUG): Initializing supervisor.
2019-07-30T19:08:59.796Z,1564513739.796 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0
2019-07-30T19:08:59.797Z,1564513739.797 [SyncHandler](INFO): Protected caller Thread ID is 808
2019-07-30T19:08:59.797Z,1564513739.797 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2019-07-30T19:08:59.798Z,1564513739.798 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0
2019-07-30T19:08:59.798Z,1564513739.798 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 809
2019-07-30T19:08:59.801Z,1564513739.801 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2019-07-30T19:08:59.813Z,1564513739.813 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2019-07-30T19:08:59.814Z,1564513739.814 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0
2019-07-30T19:08:59.814Z,1564513739.814 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 810
2019-07-30T19:08:59.815Z,1564513739.815 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2019-07-30T19:08:59.816Z,1564513739.816 [logger ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0
2019-07-30T19:08:59.817Z,1564513739.817 [logger ThreadHandler](INFO): Protected caller Thread ID is 811
2019-07-30T19:08:59.819Z,1564513739.819 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2019-07-30T19:08:59.819Z,1564513739.819 [Supervisor](INFO): Looking for Config files in directory: Config/
2019-07-30T19:08:59.823Z,1564513739.823 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2019-07-30T19:09:00.034Z,1564513740.034 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2019-07-30T19:09:00.036Z,1564513740.036 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2019-07-30T19:09:00.118Z,1564513740.118 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2019-07-30T19:09:00.573Z,1564513740.573 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2019-07-30T19:09:00.575Z,1564513740.575 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2019-07-30T19:09:00.929Z,1564513740.929 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2019-07-30T19:09:00.931Z,1564513740.931 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2019-07-30T19:09:01.029Z,1564513741.029 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2019-07-30T19:09:01.031Z,1564513741.031 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2019-07-30T19:09:01.345Z,1564513741.345 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2019-07-30T19:09:01.347Z,1564513741.347 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2019-07-30T19:09:01.550Z,1564513741.550 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2019-07-30T19:09:01.551Z,1564513741.551 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2019-07-30T19:09:02.026Z,1564513742.026 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2019-07-30T19:09:02.028Z,1564513742.028 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2019-07-30T19:09:02.138Z,1564513742.138 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2019-07-30T19:09:02.138Z,1564513742.138 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2019-07-30T19:09:02.240Z,1564513742.240 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sample
2019-07-30T19:09:02.243Z,1564513742.243 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2019-07-30T19:09:02.879Z,1564513742.879 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2019-07-30T19:09:02.879Z,1564513742.879 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2019-07-30T19:09:03.310Z,1564513743.310 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2019-07-30T19:09:03.311Z,1564513743.311 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2019-07-30T19:09:04.441Z,1564513744.441 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2019-07-30T19:09:04.442Z,1564513744.442 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2019-07-30T19:09:04.592Z,1564513744.592 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2019-07-30T19:09:04.594Z,1564513744.594 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2019-07-30T19:09:04.748Z,1564513744.748 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2019-07-30T19:09:04.751Z,1564513744.751 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/
2019-07-30T19:09:04.754Z,1564513744.754 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Navigation.cfg
2019-07-30T19:09:04.847Z,1564513744.847 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg
2019-07-30T19:09:04.934Z,1564513744.934 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg
2019-07-30T19:09:05.041Z,1564513745.041 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/secure.cfg
2019-07-30T19:09:05.128Z,1564513745.128 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg
2019-07-30T19:09:05.226Z,1564513745.226 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg
2019-07-30T19:09:05.329Z,1564513745.329 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg
2019-07-30T19:09:05.552Z,1564513745.552 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/workSite.cfg
2019-07-30T19:09:05.629Z,1564513745.629 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg
2019-07-30T19:09:05.807Z,1564513745.807 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg
2019-07-30T19:09:05.948Z,1564513745.948 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg
2019-07-30T19:09:06.071Z,1564513746.071 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Battery.cfg
2019-07-30T19:09:06.307Z,1564513746.307 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2019-07-30T19:09:06.308Z,1564513746.308 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2019-07-30T19:09:06.334Z,1564513746.334 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2019-07-30T19:09:06.422Z,1564513746.422 [VerticalControl](DEBUG): Construct VerticalControl.
2019-07-30T19:09:06.536Z,1564513746.536 [VerticalControl] Loaded
2019-07-30T19:09:06.536Z,1564513746.536 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2019-07-30T19:09:06.537Z,1564513746.537 [HorizontalControl](DEBUG): Construct HorizontalControl.
2019-07-30T19:09:06.606Z,1564513746.606 [HorizontalControl] Loaded
2019-07-30T19:09:06.606Z,1564513746.606 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2019-07-30T19:09:06.607Z,1564513746.607 [SpeedControl](DEBUG): Construct SpeedControl.
2019-07-30T19:09:06.613Z,1564513746.613 [SpeedControl] Loaded
2019-07-30T19:09:06.613Z,1564513746.613 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2019-07-30T19:09:06.614Z,1564513746.614 [LoopControl](DEBUG): Construct LoopControl.
2019-07-30T19:09:06.614Z,1564513746.614 [LoopControl] Loaded
2019-07-30T19:09:06.615Z,1564513746.615 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2019-07-30T19:09:06.615Z,1564513746.615 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2019-07-30T19:09:06.616Z,1564513746.616 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2019-07-30T19:09:06.640Z,1564513746.640 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2019-07-30T19:09:06.640Z,1564513746.640 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2019-07-30T19:09:06.765Z,1564513746.765 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2019-07-30T19:09:06.765Z,1564513746.765 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2019-07-30T19:09:06.915Z,1564513746.915 [BuoyancyServo] Loaded
2019-07-30T19:09:06.915Z,1564513746.915 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2019-07-30T19:09:06.927Z,1564513746.927 [ElevatorServo] Loaded
2019-07-30T19:09:06.928Z,1564513746.928 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2019-07-30T19:09:06.939Z,1564513746.939 [MassServo] Loaded
2019-07-30T19:09:06.939Z,1564513746.939 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2019-07-30T19:09:06.951Z,1564513746.951 [RudderServo] Loaded
2019-07-30T19:09:06.951Z,1564513746.951 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2019-07-30T19:09:06.962Z,1564513746.962 [ThrusterServo] Loaded
2019-07-30T19:09:06.963Z,1564513746.963 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2019-07-30T19:09:06.963Z,1564513746.963 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2019-07-30T19:09:06.964Z,1564513746.964 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2019-07-30T19:09:07.089Z,1564513747.089 [DeadReckonUsingMultipleVelocitySources] Loaded
2019-07-30T19:09:07.089Z,1564513747.089 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2019-07-30T19:09:07.110Z,1564513747.110 [NavChart] Loaded
2019-07-30T19:09:07.111Z,1564513747.111 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2019-07-30T19:09:07.115Z,1564513747.115 [UniversalFixResidualReporter] Loaded
2019-07-30T19:09:07.115Z,1564513747.115 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2019-07-30T19:09:07.115Z,1564513747.115 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2019-07-30T19:09:07.116Z,1564513747.116 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2019-07-30T19:09:07.228Z,1564513747.228 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2019-07-30T19:09:07.229Z,1564513747.229 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2019-07-30T19:09:07.853Z,1564513747.853 [DataOverHttps] Loaded
2019-07-30T19:09:07.853Z,1564513747.853 [ComponentRegistry](DEBUG): Component "DataOverHttps" handled in its own thread.
2019-07-30T19:09:07.854Z,1564513747.854 [DataOverHttps ThreadHandler](DEBUG): Created PCaller Thread at 4087D4E0
2019-07-30T19:09:07.855Z,1564513747.855 [DataOverHttps ThreadHandler](INFO): Protected caller Thread ID is 893
2019-07-30T19:09:07.869Z,1564513747.869 [Depth_Keller] Loaded
2019-07-30T19:09:07.869Z,1564513747.869 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2019-07-30T19:09:07.966Z,1564513747.966 [NAL9602] Loaded
2019-07-30T19:09:07.966Z,1564513747.966 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2019-07-30T19:09:07.983Z,1564513747.983 [Onboard] Loaded
2019-07-30T19:09:07.983Z,1564513747.983 [ComponentRegistry](DEBUG): SyncComponent "Onboard" handled in the control thread.
2019-07-30T19:09:07.987Z,1564513747.987 [Radio_Surface] Loaded
2019-07-30T19:09:07.987Z,1564513747.987 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread.
2019-07-30T19:09:07.988Z,1564513747.988 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 408AD4E0
2019-07-30T19:09:07.988Z,1564513747.988 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 894
2019-07-30T19:09:10.009Z,1564513750.009 [BPC1] Loaded
2019-07-30T19:09:10.010Z,1564513750.010 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2019-07-30T19:09:10.010Z,1564513750.010 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2019-07-30T19:09:10.011Z,1564513750.011 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2019-07-30T19:09:10.066Z,1564513750.066 [DepthRateCalculator] Loaded
2019-07-30T19:09:10.066Z,1564513750.066 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2019-07-30T19:09:10.071Z,1564513750.071 [PitchRateCalculator] Loaded
2019-07-30T19:09:10.072Z,1564513750.072 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2019-07-30T19:09:10.084Z,1564513750.084 [SpeedCalculator] Loaded
2019-07-30T19:09:10.084Z,1564513750.084 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2019-07-30T19:09:10.106Z,1564513750.106 [TempGradientCalculator] Loaded
2019-07-30T19:09:10.106Z,1564513750.106 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2019-07-30T19:09:10.112Z,1564513750.112 [YawRateCalculator] Loaded
2019-07-30T19:09:10.112Z,1564513750.112 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2019-07-30T19:09:10.143Z,1564513750.143 [ElevatorOffsetCalculator] Loaded
2019-07-30T19:09:10.143Z,1564513750.143 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread.
2019-07-30T19:09:10.143Z,1564513750.143 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2019-07-30T19:09:10.144Z,1564513750.144 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2019-07-30T19:09:10.413Z,1564513750.413 [ESPComponent] Loaded
2019-07-30T19:09:10.413Z,1564513750.413 [ComponentRegistry](DEBUG): SyncComponent "ESPComponent" handled in the control thread.
2019-07-30T19:09:10.428Z,1564513750.428 [PAR_Licor] Loaded
2019-07-30T19:09:10.428Z,1564513750.428 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2019-07-30T19:09:10.429Z,1564513750.429 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2019-07-30T19:09:10.430Z,1564513750.430 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2019-07-30T19:09:10.479Z,1564513750.479 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2019-07-30T19:09:10.479Z,1564513750.479 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2019-07-30T19:09:10.819Z,1564513750.819 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2019-07-30T19:09:10.821Z,1564513750.821 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2019-07-30T19:09:10.979Z,1564513750.979 [SBIT](DEBUG): Construct Startup Built In Test.
2019-07-30T19:09:10.991Z,1564513750.991 [SBIT] Loaded
2019-07-30T19:09:10.991Z,1564513750.991 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2019-07-30T19:09:10.992Z,1564513750.992 [IBIT](DEBUG): Construct Initiated Built In Test.
2019-07-30T19:09:11.004Z,1564513751.004 [IBIT] Loaded
2019-07-30T19:09:11.004Z,1564513751.004 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2019-07-30T19:09:11.008Z,1564513751.008 [CBIT](DEBUG): Construct Continuous Built In Test.
2019-07-30T19:09:11.193Z,1564513751.193 [CBIT] Loaded
2019-07-30T19:09:11.193Z,1564513751.193 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2019-07-30T19:09:11.194Z,1564513751.194 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2019-07-30T19:09:11.198Z,1564513751.198 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2019-07-30T19:09:11.198Z,1564513751.198 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2019-07-30T19:09:11.206Z,1564513751.206 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2019-07-30T19:09:11.207Z,1564513751.207 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40A7F4E0
2019-07-30T19:09:11.207Z,1564513751.207 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 896
2019-07-30T19:09:11.212Z,1564513751.212 [Supervisor](INFO): Main Thread ID is 804
2019-07-30T19:09:11.212Z,1564513751.212 [Supervisor](DEBUG): Running supervisor.
2019-07-30T19:09:11.213Z,1564513751.213 [CommandLine ThreadHandler](INFO): Handler Thread ID is 897
2019-07-30T19:09:11.215Z,1564513751.215 [controlThread ThreadHandler](INFO): Handler Thread ID is 898
2019-07-30T19:09:11.216Z,1564513751.216 [controlThread](DEBUG): Initializing ControlThread
2019-07-30T19:09:11.217Z,1564513751.217 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2019-07-30T19:09:11.218Z,1564513751.218 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2019-07-30T19:09:11.219Z,1564513751.219 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2019-07-30T19:09:11.219Z,1564513751.219 [LoopControl](DEBUG): Initialize LoopControlComponent.
2019-07-30T19:09:11.221Z,1564513751.221 [NavChart](DEBUG): Initialize NavChart Navigation.
2019-07-30T19:09:11.222Z,1564513751.222 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2019-07-30T19:09:11.226Z,1564513751.226 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2019-07-30T19:09:11.226Z,1564513751.226 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2019-07-30T19:09:11.226Z,1564513751.226 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2019-07-30T19:09:11.227Z,1564513751.227 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2019-07-30T19:09:11.227Z,1564513751.227 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2019-07-30T19:09:11.227Z,1564513751.227 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator.
2019-07-30T19:09:11.229Z,1564513751.229 [SBIT](INFO): Initialize SBIT Component.
2019-07-30T19:09:11.230Z,1564513751.230 [SBIT](IMPORTANT): git: 2019-07-26
2019-07-30T19:09:11.230Z,1564513751.230 [SBIT](INFO): git hash: f88ffa24b8ecf5258b33f27687ba0d8562856deb
2019-07-30T19:09:11.230Z,1564513751.230 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2019-07-30T19:09:11.231Z,1564513751.231 [SBIT](INFO): Kernel Reporting Different Version From Configuration.
Kernel Expected: #2 PREEMPT Thu Jan 11 20:13:48 PST 2018
Kernel Reported: #1 PREEMPT Tue Dec 18 21:19:28 PST 2018
2019-07-30T19:09:11.232Z,1564513751.232 [SBIT](INFO): Beginning SBIT in 29.000000 seconds.
2019-07-30T19:09:11.233Z,1564513751.233 [IBIT](INFO): Initialize IBIT Component.
2019-07-30T19:09:11.234Z,1564513751.234 [CBIT](DEBUG): Initialize CBIT Component.
2019-07-30T19:09:11.235Z,1564513751.235 [logger ThreadHandler](INFO): Handler Thread ID is 899
2019-07-30T19:09:11.245Z,1564513751.245 [CBIT](DEBUG): Initialized mux pins.
2019-07-30T19:09:11.245Z,1564513751.245 [CBIT](DEBUG): Initializing the watchdog timer.
2019-07-30T19:09:11.253Z,1564513751.253 [DataOverHttps ThreadHandler](INFO): Handler Thread ID is 900
2019-07-30T19:09:11.254Z,1564513751.254 [DataOverHttps](DEBUG): dashIP=134.89.2.23 starts with a digit so assuming it is a numeric IP
2019-07-30T19:09:11.265Z,1564513751.265 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 901
2019-07-30T19:09:11.269Z,1564513751.269 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2019-07-30T19:09:11.269Z,1564513751.269 [CBIT](DEBUG): Initializing heartbeat.
2019-07-30T19:09:11.277Z,1564513751.277 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 902
2019-07-30T19:09:11.286Z,1564513751.286 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000
2019-07-30T19:09:11.286Z,1564513751.286 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2019-07-30T19:09:11.287Z,1564513751.287 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000
2019-07-30T19:09:11.287Z,1564513751.287 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2019-07-30T19:09:11.287Z,1564513751.287 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000
2019-07-30T19:09:11.287Z,1564513751.287 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2019-07-30T19:09:11.287Z,1564513751.287 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4CA60M.000
2019-07-30T19:09:11.288Z,1564513751.288 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2019-07-30T19:09:11.288Z,1564513751.288 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000
2019-07-30T19:09:11.288Z,1564513751.288 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2019-07-30T19:09:11.288Z,1564513751.288 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA61M.000
2019-07-30T19:09:11.288Z,1564513751.288 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2019-07-30T19:09:11.288Z,1564513751.288 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA62M.000
2019-07-30T19:09:11.289Z,1564513751.289 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2019-07-30T19:09:11.289Z,1564513751.289 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA83M.000
2019-07-30T19:09:11.289Z,1564513751.289 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2019-07-30T19:09:11.341Z,1564513751.341 [CBIT](DEBUG): Deactivating GF circuits.
2019-07-30T19:09:11.341Z,1564513751.341 [CBIT](DEBUG): Deactivating emergency mode.
2019-07-30T19:09:11.377Z,1564513751.377 [CBIT](DEBUG): Backplane powered.
2019-07-30T19:09:11.378Z,1564513751.378 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2019-07-30T19:09:11.404Z,1564513751.404 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2019-07-30T19:09:11.431Z,1564513751.431 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
       xmlns:Control="Tethys/Control"
       xmlns:Guidance="Tethys/Guidance" 
       xmlns:Units="Tethys/Units"
       xmlns:Universal="Tethys/Universal"
       xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
       xsi:schemaLocation="Tethys http://okeanids.mbari.org/tethys/Xml/Tethys.xsd
                           Tethys/Control http://okeanids.mbari.org/tethys/Xml/Control.xsd
                           Tethys/Guidance http://okeanids.mbari.org/tethys/Xml/Guidance.xsd
                           Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd
                           Tethys/Universal http://okeanids.mbari.org/tethys/Xml/Universal.xsd"
       Id="Startup">

    <Guidance:GoToSurface>
        <Progression/>
    </Guidance:GoToSurface>

    <Aggregate Id="StartupSatComms">

        <Sequence/>

        <ReadDatum>
            <Timeout Duration="P1M" />
            <Universal:latitude_fix/>
        </ReadDatum>

        <ReadDatum>
            <Timeout Duration="P1M" />
            <Universal:platform_communications/>
        </ReadDatum>

    </Aggregate>

</Mission>


2019-07-30T19:09:11.431Z,1564513751.431 [MissionManager](INFO): Loading Mission: Missions/Default.xml
2019-07-30T19:09:11.490Z,1564513751.490 [MissionManager](INFO): DefineArg Default.ElapsedSinceDefaultStarted = 0.000000 min
2019-07-30T19:09:11.491Z,1564513751.491 [Default:A.Wait](DEBUG): Construct Wait.
2019-07-30T19:09:11.493Z,1564513751.493 [Default:B.GoToSurface](DEBUG): Construct GoToSurface.
2019-07-30T19:09:11.512Z,1564513751.512 [Default:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2019-07-30T19:09:11.539Z,1564513751.539 [Default:CheckIn:C.Wait](DEBUG): Construct Wait.
2019-07-30T19:09:11.544Z,1564513751.544 [Default:E.Execute](DEBUG): Construct Execute.
2019-07-30T19:09:11.562Z,1564513751.562 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
         xmlns="Tethys"
         xmlns:Units="Tethys/Units"
         xmlns:Guidance="Tethys/Guidance"
         xmlns:Universal="Tethys/Universal"
         xsi:schemaLocation="Tethys http://okeanids.mbari.org/tethys/Xml/Tethys.xsd
                             Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd
                             Tethys/Guidance http://okeanids.mbari.org/tethys/Xml/Guidance.xsd
                             Tethys/Universal http://okeanids.mbari.org/tethys/Xml/Universal.xsd"
         Id="Default">

    <DefineArg Name="ElapsedSinceDefaultStarted"><Units:minute/><Value>0</Value></DefineArg>

    <Guidance:Wait>
        <Description>
            Wait a moment to see if the scheduler starts a new mission before
            starting to actually run Default.
        </Description>
        <Sequence/>
        <Setting><Guidance:Wait.duration/><Units:second/><Value>13</Value></Setting>
    </Guidance:Wait>

    <Guidance:GoToSurface>
        <Progression/>
    </Guidance:GoToSurface>

    <Aggregate Id="CheckIn">

        <Sequence Repeat="288"/>

        <ReadDatum Id="Read_GPS">
            <Timeout Duration="P5M"/>
            <Universal:time_fix/>
        </ReadDatum>

        <ReadDatum Id="Read_Iridium">
            <Timeout Duration="P2H">
                <Guidance:Execute>
                    <Sequence/>
                    <Setting><Guidance:Execute.command/><String>Burn on</String></Setting>
                </Guidance:Execute>
                <Syslog Severity="Critical">Dropped weight due to communications timeout.</Syslog>
            </Timeout>
            <Universal:platform_communications/>
        </ReadDatum>

        <Guidance:Wait>
            <Sequence/>
            <Setting><Guidance:Wait.duration/><Units:minute/><Value>5</Value></Setting>
        </Guidance:Wait>

        <Assign><Sequence/><Arg Name="ElapsedSinceDefaultStarted"/><Elapsed><Universal:mission_started/></Elapsed></Assign>

        <Syslog Severity="Important">Default mission has been running for <Arg Name="ElapsedSinceDefaultStarted"/><Units:minute/></Syslog>

    </Aggregate>

    <Syslog Severity="Important">Restarting logs and Default mission.</Syslog>

    <Guidance:Execute>
        <Sequence/>
        <Setting><Guidance:Execute.command/><String>restart logs</String></Setting>
    </Guidance:Execute>

</Mission>


2019-07-30T19:09:11.580Z,1564513751.580 [controlThread](DEBUG): Component order: CycleStarter,Depth_Keller,NAL9602,Onboard,BPC1,ESPComponent,PAR_Licor,Depth_Keller,PAR_Licor,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,LogSplitter,
2019-07-30T19:09:11.587Z,1564513751.587 [Depth_Keller](ERROR): Pressure reading out of range: 1831.023193 decibar
2019-07-30T19:09:11.669Z,1564513751.669 [Radio_Surface](INFO): Powering up
2019-07-30T19:09:11.785Z,1564513751.785 [DepthRateCalculator](ERROR): Depth measurement is not active
2019-07-30T19:09:12.127Z,1564513752.127 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2019-07-30T19:09:12.133Z,1564513752.133 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2019-07-30T19:09:12.134Z,1564513752.134 [ElevatorServo](DEBUG): Initializing EZServoServo.
2019-07-30T19:09:12.141Z,1564513752.141 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2019-07-30T19:09:12.142Z,1564513752.142 [MassServo](DEBUG): Initializing EZServoServo.
2019-07-30T19:09:12.149Z,1564513752.149 [MassServo](DEBUG): Initializing MassServo.
2019-07-30T19:09:12.150Z,1564513752.150 [RudderServo](DEBUG): Initializing EZServoServo.
2019-07-30T19:09:12.157Z,1564513752.157 [RudderServo](DEBUG): Initializing RudderServo.
2019-07-30T19:09:12.158Z,1564513752.158 [ThrusterServo](DEBUG): Initializing EZServoServo.
2019-07-30T19:09:12.165Z,1564513752.165 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2019-07-30T19:09:21.557Z,1564513761.557 [CBIT](CRITICAL): Environmental Failure. Press:14.735998 PSI. Humidity:24%. Temp:31 C. ABORTING MISSION
2019-07-30T19:09:21.558Z,1564513761.558 [Supervisor](INFO): Stop Mission called by CBIT::monitorEnvironmentals
2019-07-30T19:09:21.987Z,1564513761.987 [CommandLine](FAULT): Scheduling is paused
2019-07-30T19:09:21.988Z,1564513761.988 [CBIT](INFO): Critical error at 20190730T190921
2019-07-30T19:09:38.038Z,1564513778.038 [NAL9602](INFO): Powering up NAL9602
2019-07-30T19:09:40.927Z,1564513780.927 [SBIT](IMPORTANT): Beginning Startup BIT
2019-07-30T19:09:40.931Z,1564513780.931 [CBIT](IMPORTANT): Beginning ground fault scan
2019-07-30T19:09:48.574Z,1564513788.574 [CommandLine](IMPORTANT): got command maintain sensor NAL9602.latitude_fix 36.797001 degree
2019-07-30T19:09:48.575Z,1564513788.575 [ComponentRegistry](DEBUG): SyncComponent "Maintain_NAL9602.latitude_fix" handled in the control thread.
2019-07-30T19:09:48.576Z,1564513788.576 [CommandLine](IMPORTANT): got command maintain sensor NAL9602.longitude_fix -121.847000 degree
2019-07-30T19:09:48.578Z,1564513788.578 [ComponentRegistry](DEBUG): SyncComponent "Maintain_NAL9602.longitude_fix" handled in the control thread.
2019-07-30T19:09:48.862Z,1564513788.862 [controlThread](DEBUG): Component order: CycleStarter,Depth_Keller,NAL9602,Onboard,BPC1,ESPComponent,PAR_Licor,Depth_Keller,PAR_Licor,Maintain_NAL9602.latitude_fix,Maintain_NAL9602.longitude_fix,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,LogSplitter,
2019-07-30T19:09:49.062Z,1564513789.062 [NAL9602](INFO): NAL9602 initialized
2019-07-30T19:09:49.121Z,1564513789.121 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2019-07-30T19:09:49.121Z,1564513789.121 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 1
2019-07-30T19:09:49.121Z,1564513789.121 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-07-30T19:09:49.178Z,1564513789.178 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-07-30T19:09:49.569Z,1564513789.569 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-07-30T19:09:49.569Z,1564513789.569 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 1
2019-07-30T19:09:49.881Z,1564513789.881 [NAL9602](DEBUG): Fix Requested
2019-07-30T19:09:50.321Z,1564513790.321 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2019-07-30T19:09:50.321Z,1564513790.321 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 2
2019-07-30T19:09:50.321Z,1564513790.321 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-07-30T19:09:50.398Z,1564513790.398 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-07-30T19:09:50.806Z,1564513790.806 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-07-30T19:09:50.806Z,1564513790.806 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 2
2019-07-30T19:09:51.545Z,1564513791.545 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2019-07-30T19:09:51.545Z,1564513791.545 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 3
2019-07-30T19:09:51.545Z,1564513791.545 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-07-30T19:09:51.590Z,1564513791.590 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-07-30T19:09:51.594Z,1564513791.594 [CBIT](IMPORTANT): Ground fault detected
mA:
CHAN A0 (Batt): 4.657929
CHAN A1 (24V): -0.198315
CHAN A2 (12V): -0.002556
CHAN A3 (5V): -0.001457
CHAN B0 (3.3V): 0.000094
CHAN B1 (3.15aV): -0.000569
CHAN B2 (3.15bV): 0.000289
CHAN B3 (GND): 4.792929
OPEN: -0.000494
Full Scale Calc: 4.765 mA, -1.589 mA
2019-07-30T19:09:52.090Z,1564513792.090 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-07-30T19:09:52.090Z,1564513792.090 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 3
2019-07-30T19:09:52.753Z,1564513792.753 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2019-07-30T19:09:52.753Z,1564513792.753 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 4
2019-07-30T19:09:52.753Z,1564513792.753 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-07-30T19:09:52.809Z,1564513792.809 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-07-30T19:09:53.158Z,1564513793.158 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-07-30T19:09:53.158Z,1564513793.158 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 4
2019-07-30T19:09:53.937Z,1564513793.937 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2019-07-30T19:09:53.937Z,1564513793.937 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 5
2019-07-30T19:09:53.937Z,1564513793.937 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-07-30T19:09:53.962Z,1564513793.962 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-07-30T19:09:54.385Z,1564513794.385 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-07-30T19:09:54.385Z,1564513794.385 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 5
2019-07-30T19:09:55.169Z,1564513795.169 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2019-07-30T19:09:55.169Z,1564513795.169 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 6
2019-07-30T19:09:55.169Z,1564513795.169 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-07-30T19:09:55.238Z,1564513795.238 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-07-30T19:09:55.657Z,1564513795.657 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-07-30T19:09:55.657Z,1564513795.657 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 6
2019-07-30T19:09:56.558Z,1564513796.558 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2019-07-30T19:09:56.558Z,1564513796.558 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 7
2019-07-30T19:09:56.558Z,1564513796.558 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-07-30T19:09:56.653Z,1564513796.653 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-07-30T19:09:57.026Z,1564513797.026 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-07-30T19:09:57.026Z,1564513797.026 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 7
2019-07-30T19:09:57.765Z,1564513797.765 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2019-07-30T19:09:57.765Z,1564513797.765 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 8
2019-07-30T19:09:57.765Z,1564513797.765 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-07-30T19:09:57.858Z,1564513797.858 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-07-30T19:09:58.250Z,1564513798.250 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-07-30T19:09:58.250Z,1564513798.250 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 8
2019-07-30T19:09:58.953Z,1564513798.953 [DeadReckonUsingMultipleVelocitySources](ERROR): Caught NaN! Will not write estimated position: latitude_ = nan, longitude_ = nan, depth_ = nan, horizontalPathLengthSinceLastFix_ = nan, latitudeAccuracy_ = nan, longitudeAccuracy_ = nan, depthAccuracy_ = nan
2019-07-30T19:09:58.954Z,1564513798.954 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 9
2019-07-30T19:09:58.954Z,1564513798.954 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-07-30T19:09:59.050Z,1564513799.050 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-07-30T19:09:59.453Z,1564513799.453 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-07-30T19:09:59.453Z,1564513799.453 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 9
2019-07-30T19:09:59.560Z,1564513799.560 [CommandLine](IMPORTANT): got command set NAL9602.time_fix 1564513792.000000 second
2019-07-30T19:10:34.592Z,1564513834.592 [SBIT](IMPORTANT): SBIT PASSED
2019-07-30T19:10:34.666Z,1564513834.666 [CommandLine](IMPORTANT): got command configSet list
2019-07-30T19:10:34.666Z,1564513834.666 [CommandLine](IMPORTANT): Listing configuration overrides from Data/persisted.cfg
2019-07-30T19:10:34.667Z,1564513834.667 [CommandLine](IMPORTANT): AHRS_M2.loadAtStartup=0 bool;

2019-07-30T19:10:34.667Z,1564513834.667 [CommandLine](IMPORTANT): Aanderaa_O2.loadAtStartup=0 bool;

2019-07-30T19:10:34.667Z,1564513834.667 [CommandLine](IMPORTANT): BPC1.batteryMissingStickThreshold=0 count;

2019-07-30T19:10:34.667Z,1564513834.667 [CommandLine](IMPORTANT): BPC1.batterySamplingInterval=6 hour;

2019-07-30T19:10:34.667Z,1564513834.667 [CommandLine](IMPORTANT): CBIT.abortDepth=296 meter;

2019-07-30T19:10:34.668Z,1564513834.668 [CommandLine](IMPORTANT): CBIT.gf24Offset=172 microampere;

2019-07-30T19:10:34.668Z,1564513834.668 [CommandLine](IMPORTANT): CBIT.stopDepth=288 meter;

2019-07-30T19:10:34.668Z,1564513834.668 [CommandLine](IMPORTANT): CTD_NeilBrown.loadAtStartup=0 bool;

2019-07-30T19:10:34.668Z,1564513834.668 [CommandLine](IMPORTANT): CTD_Seabird.loadAtStartup=0 bool;

2019-07-30T19:10:34.668Z,1564513834.668 [CommandLine](IMPORTANT): DAT.ignoreElevationAngle=1 bool;

2019-07-30T19:10:34.668Z,1564513834.668 [CommandLine](IMPORTANT): DAT.loadAtStartup=0 bool;

2019-07-30T19:10:34.668Z,1564513834.668 [CommandLine](IMPORTANT): DVL_micro.loadAtStartup=0 bool;

2019-07-30T19:10:34.668Z,1564513834.668 [CommandLine](IMPORTANT): DropWeight.loadAtStartup=0 bool;

2019-07-30T19:10:34.668Z,1564513834.668 [CommandLine](IMPORTANT): ESPComponent.loadAtStartup=1 bool;

2019-07-30T19:10:34.669Z,1564513834.669 [CommandLine](IMPORTANT): Express linearApproximation DAT.range 5.000000 meter;

2019-07-30T19:10:34.669Z,1564513834.669 [CommandLine](IMPORTANT): Express linearApproximation acoustic_contact_range 10.000000 meter;

2019-07-30T19:10:34.669Z,1564513834.669 [CommandLine](IMPORTANT): Express linearApproximation depth 5.000000 meter;

2019-07-30T19:10:34.669Z,1564513834.669 [CommandLine](IMPORTANT): Express linearApproximation latitude 0.005000 degree;

2019-07-30T19:10:34.669Z,1564513834.669 [CommandLine](IMPORTANT): Express linearApproximation longitude 0.005000 degree;

2019-07-30T19:10:34.669Z,1564513834.669 [CommandLine](IMPORTANT): NAL9602.fastGPSFix=1 bool;

2019-07-30T19:10:34.669Z,1564513834.669 [CommandLine](IMPORTANT): VerticalControl.buoyancyNeutral=274 cubic_centimeter;

2019-07-30T19:10:34.670Z,1564513834.670 [CommandLine](IMPORTANT): VerticalControl.massDefault=-2.3 millimeter;

2019-07-30T19:10:34.670Z,1564513834.670 [CommandLine](IMPORTANT): VerticalControl.massPositionLimitAft=-31 millimeter;

2019-07-30T19:10:34.670Z,1564513834.670 [CommandLine](IMPORTANT): VerticalControl.massPositionLimitFwd=30 millimeter;

2019-07-30T19:10:34.670Z,1564513834.670 [CommandLine](IMPORTANT): WetLabsBB2FL.loadAtStartup=0 bool;

2019-07-30T19:10:34.999Z,1564513834.999 [MissionManager](IMPORTANT): Started mission Startup
2019-07-30T19:10:34.999Z,1564513834.999 [Startup] Running Loop=1
2019-07-30T19:10:34.000Z,1564513835.000 [Startup](DEBUG): Aggregate::initialize Startup
2019-07-30T19:10:34.000Z,1564513835.000 [Startup:A.GoToSurface] Running Loop=1
2019-07-30T19:10:34.000Z,1564513835.000 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-07-30T19:10:35.000Z,1564513835.000 [Startup:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2019-07-30T19:10:35.005Z,1564513835.005 [Startup:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2019-07-30T19:10:35.005Z,1564513835.005 [Startup:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2019-07-30T19:10:35.006Z,1564513835.006 [Startup:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-07-30T19:10:35.006Z,1564513835.006 [Startup:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-07-30T19:10:35.008Z,1564513835.008 [Startup:StartupSatComms] Running Loop=1
2019-07-30T19:10:35.008Z,1564513835.008 [Startup:StartupSatComms](DEBUG): Aggregate::initialize Startup:StartupSatComms
2019-07-30T19:10:35.008Z,1564513835.008 [Startup:StartupSatComms:A] Running Loop=1
2019-07-30T19:10:35.392Z,1564513835.392 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2019-07-30T19:10:35.392Z,1564513835.392 [Startup:StartupSatComms:A] Stopped
2019-07-30T19:10:35.392Z,1564513835.392 [Startup:StartupSatComms:B] Running Loop=1
2019-07-30T19:10:35.800Z,1564513835.800 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2019-07-30T19:10:46.670Z,1564513846.670 [CommandLine](IMPORTANT): got command failComponent
2019-07-30T19:10:46.671Z,1564513846.671 [CommandLine](IMPORTANT): Failed components:
2019-07-30T19:10:46.671Z,1564513846.671 [CommandLine](IMPORTANT): No failed Components.
2019-07-30T19:11:34.259Z,1564513894.259 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.005000
2019-07-30T19:11:35.604Z,1564513895.604 [Startup:StartupSatComms:B](INFO): Timed out from 2019-07-30T19:10:35.4Z
2019-07-30T19:11:35.604Z,1564513895.604 [Startup:StartupSatComms:B] Stopped
2019-07-30T19:11:35.604Z,1564513895.604 [Startup:StartupSatComms](INFO): Completed Startup:StartupSatComms
2019-07-30T19:11:35.604Z,1564513895.604 [Startup:StartupSatComms] Stopped
2019-07-30T19:11:35.604Z,1564513895.604 [Startup:StartupSatComms](DEBUG): Aggregate::uninitialize Startup:StartupSatComms
2019-07-30T19:11:35.605Z,1564513895.605 [Startup](INFO): Completed Startup
2019-07-30T19:11:35.605Z,1564513895.605 [MissionManager](INFO): Startup is completed.
2019-07-30T19:11:35.605Z,1564513895.605 [MissionManager](INFO): Uninitializing Mission Startup
2019-07-30T19:11:35.605Z,1564513895.605 [Startup] Stopped
2019-07-30T19:11:35.605Z,1564513895.605 [Startup](DEBUG): Aggregate::uninitialize Startup
2019-07-30T19:11:35.606Z,1564513895.606 [Startup:A.GoToSurface] Stopped
2019-07-30T19:11:35.606Z,1564513895.606 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-07-30T19:11:36.006Z,1564513896.006 [MissionManager](IMPORTANT): Started mission Default
2019-07-30T19:11:36.007Z,1564513896.007 [Default] Running Loop=1
2019-07-30T19:11:36.007Z,1564513896.007 [Default](DEBUG): Aggregate::initialize Default
2019-07-30T19:11:36.007Z,1564513896.007 [Default:B.GoToSurface] Running Loop=1
2019-07-30T19:11:36.007Z,1564513896.007 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-07-30T19:11:36.007Z,1564513896.007 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2019-07-30T19:11:36.007Z,1564513896.007 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2019-07-30T19:11:36.008Z,1564513896.008 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2019-07-30T19:11:36.008Z,1564513896.008 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-07-30T19:11:36.008Z,1564513896.008 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-07-30T19:11:36.009Z,1564513896.009 [Default:A.Wait] Running Loop=1
2019-07-30T19:11:36.009Z,1564513896.009 [Default:A.Wait](DEBUG): Initialize Wait Component.
2019-07-30T19:11:40.237Z,1564513900.237 [DataOverHttps](INFO): Sending 25 bytes from file Logs/20190730T154238/Courier0061.lzma
2019-07-30T19:11:41.042Z,1564513901.042 [DataOverHttps](INFO): Moved sent file to Logs/20190730T154238/Courier0061.lzma.bak
2019-07-30T19:11:41.043Z,1564513901.043 [DataOverHttps](INFO): SBD MOMSN=11483483
2019-07-30T19:11:49.359Z,1564513909.359 [Default:A.Wait](INFO): Done Waiting.
2019-07-30T19:11:49.359Z,1564513909.359 [Default:A.Wait] Stopped
2019-07-30T19:11:49.359Z,1564513909.359 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2019-07-30T19:11:49.720Z,1564513909.720 [Default:CheckIn] Running Loop=1
2019-07-30T19:11:49.720Z,1564513909.720 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-07-30T19:11:49.720Z,1564513909.720 [Default:CheckIn:Read_GPS] Running Loop=1
2019-07-30T19:11:50.124Z,1564513910.124 [Default:CheckIn:Read_GPS](DEBUG): Initialize ReadDataComponent to sense time_fix
2019-07-30T19:11:59.815Z,1564513919.815 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-07-30T19:11:59.815Z,1564513919.815 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 1
2019-07-30T19:11:59.815Z,1564513919.815 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-07-30T19:11:59.826Z,1564513919.826 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-07-30T19:12:00.230Z,1564513920.230 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-07-30T19:12:00.230Z,1564513920.230 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 1
2019-07-30T19:14:01.029Z,1564514041.029 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-07-30T19:14:01.029Z,1564514041.029 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 2
2019-07-30T19:14:01.029Z,1564514041.029 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-07-30T19:14:01.046Z,1564514041.046 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-07-30T19:14:01.430Z,1564514041.430 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-07-30T19:14:01.430Z,1564514041.430 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 2
2019-07-30T19:14:52.298Z,1564514092.298 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2019-07-30T19:14:53.117Z,1564514093.117 [NAL9602](DEBUG): Fix Requested
2019-07-30T19:14:55.945Z,1564514095.945 [NAL9602](DEBUG): Fix Requested
2019-07-30T19:14:59.177Z,1564514099.177 [NAL9602](DEBUG): Fix Requested
2019-07-30T19:15:02.005Z,1564514102.005 [NAL9602](DEBUG): Fix Requested
2019-07-30T19:15:05.237Z,1564514105.237 [NAL9602](DEBUG): Fix Requested
2019-07-30T19:15:08.065Z,1564514108.065 [NAL9602](DEBUG): Fix Requested
2019-07-30T19:15:11.301Z,1564514111.301 [NAL9602](DEBUG): Fix Requested
2019-07-30T19:15:14.129Z,1564514114.129 [NAL9602](DEBUG): Fix Requested
2019-07-30T19:15:16.957Z,1564514116.957 [NAL9602](DEBUG): Fix Requested
2019-07-30T19:15:20.189Z,1564514120.189 [NAL9602](DEBUG): Fix Requested
2019-07-30T19:15:23.021Z,1564514123.021 [NAL9602](DEBUG): Fix Requested
2019-07-30T19:15:26.253Z,1564514126.253 [NAL9602](DEBUG): Fix Requested
2019-07-30T19:15:29.081Z,1564514129.081 [NAL9602](DEBUG): Fix Requested
2019-07-30T19:15:32.309Z,1564514132.309 [NAL9602](DEBUG): Fix Requested
2019-07-30T19:15:32.330Z,1564514132.330 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.
2019-07-30T19:15:32.334Z,1564514132.334 [BPC1](INFO): Received data from all battery sticks.
2019-07-30T19:15:35.141Z,1564514135.141 [NAL9602](DEBUG): Fix Requested
2019-07-30T19:15:37.965Z,1564514137.965 [NAL9602](DEBUG): Fix Requested
2019-07-30T19:15:41.193Z,1564514141.193 [NAL9602](DEBUG): Fix Requested
2019-07-30T19:15:44.025Z,1564514144.025 [NAL9602](DEBUG): Fix Requested
2019-07-30T19:15:47.257Z,1564514147.257 [NAL9602](DEBUG): Fix Requested
2019-07-30T19:15:50.085Z,1564514150.085 [NAL9602](DEBUG): Fix Requested
2019-07-30T19:15:53.325Z,1564514153.325 [NAL9602](DEBUG): Fix Requested
2019-07-30T19:15:56.145Z,1564514156.145 [NAL9602](DEBUG): Fix Requested
2019-07-30T19:15:59.381Z,1564514159.381 [NAL9602](DEBUG): Fix Requested
2019-07-30T19:16:02.205Z,1564514162.205 [NAL9602](DEBUG): Fix Requested
2019-07-30T19:16:02.230Z,1564514162.230 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-07-30T19:16:02.230Z,1564514162.230 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 3
2019-07-30T19:16:02.230Z,1564514162.230 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-07-30T19:16:02.241Z,1564514162.241 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-07-30T19:16:02.650Z,1564514162.650 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-07-30T19:16:02.650Z,1564514162.650 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 3
2019-07-30T19:16:05.033Z,1564514165.033 [NAL9602](DEBUG): Fix Requested
2019-07-30T19:16:08.265Z,1564514168.265 [NAL9602](DEBUG): Fix Requested
2019-07-30T19:16:11.097Z,1564514171.097 [NAL9602](DEBUG): Fix Requested
2019-07-30T19:16:14.325Z,1564514174.325 [NAL9602](DEBUG): Fix Requested
2019-07-30T19:16:17.153Z,1564514177.153 [NAL9602](DEBUG): Fix Requested
2019-07-30T19:16:20.389Z,1564514180.389 [NAL9602](DEBUG): Fix Requested
2019-07-30T19:16:23.213Z,1564514183.213 [NAL9602](DEBUG): Fix Requested
2019-07-30T19:16:26.045Z,1564514186.045 [NAL9602](DEBUG): Fix Requested
2019-07-30T19:16:29.273Z,1564514189.273 [NAL9602](DEBUG): Fix Requested
2019-07-30T19:16:32.097Z,1564514192.097 [NAL9602](DEBUG): Fix Requested
2019-07-30T19:16:35.337Z,1564514195.337 [NAL9602](DEBUG): Fix Requested
2019-07-30T19:16:38.157Z,1564514198.157 [NAL9602](DEBUG): Fix Requested
2019-07-30T19:16:41.393Z,1564514201.393 [NAL9602](DEBUG): Fix Requested
2019-07-30T19:16:44.217Z,1564514204.217 [NAL9602](DEBUG): Fix Requested
2019-07-30T19:16:47.457Z,1564514207.457 [NAL9602](DEBUG): Fix Requested
2019-07-30T19:16:49.922Z,1564514209.922 [Default:CheckIn:Read_GPS](INFO): Timed out from 2019-07-30T19:11:49.7Z
2019-07-30T19:16:49.922Z,1564514209.922 [Default:CheckIn:Read_GPS] Stopped
2019-07-30T19:16:49.922Z,1564514209.922 [Default:CheckIn:Read_Iridium] Running Loop=1
2019-07-30T19:16:50.281Z,1564514210.281 [NAL9602](DEBUG): Fix Requested
2019-07-30T19:16:50.315Z,1564514210.315 [Default:CheckIn:Read_Iridium](DEBUG): Initialize ReadDataComponent to sense platform_communications
2019-07-30T19:16:52.300Z,1564514212.300 [DataOverHttps](INFO): Sending 247 bytes from file Logs/20190730T190859/Courier0000.lzma
2019-07-30T19:16:53.110Z,1564514213.110 [DataOverHttps](INFO): Moved sent file to Logs/20190730T190859/Courier0000.lzma.bak
2019-07-30T19:16:53.110Z,1564514213.110 [DataOverHttps](INFO): SBD MOMSN=11483485
2019-07-30T19:17:06.568Z,1564514226.568 [DataOverHttps](INFO): Sending 187 bytes from file Logs/20190730T190859/Courier0004.lzma
2019-07-30T19:17:07.374Z,1564514227.374 [DataOverHttps](INFO): Moved sent file to Logs/20190730T190859/Courier0004.lzma.bak
2019-07-30T19:17:07.375Z,1564514227.375 [DataOverHttps](INFO): SBD MOMSN=11483492
2019-07-30T19:17:21.177Z,1564514241.177 [DataOverHttps](INFO): Sending 457 bytes from file Logs/20190730T154238/Express0062.lzma
2019-07-30T19:17:21.982Z,1564514241.982 [DataOverHttps](INFO): Moved sent file to Logs/20190730T154238/Express0062.lzma.bak
2019-07-30T19:17:21.983Z,1564514241.983 [DataOverHttps](INFO): SBD MOMSN=11483498
2019-07-30T19:17:23.049Z,1564514243.049 [NAL9602](INFO): Not Powering down - fast GPS
2019-07-30T19:17:35.791Z,1564514255.791 [DataOverHttps](INFO): Sending 1192 bytes from file Logs/20190730T190859/Express0001.lzma
2019-07-30T19:17:36.594Z,1564514256.594 [DataOverHttps](INFO): Moved sent file to Logs/20190730T190859/Express0001.lzma.bak
2019-07-30T19:17:36.594Z,1564514256.594 [DataOverHttps](INFO): SBD MOMSN=11483510
2019-07-30T19:17:50.389Z,1564514270.389 [DataOverHttps](INFO): Sending 344 bytes from file Logs/20190730T190859/Express0005.lzma
2019-07-30T19:17:51.194Z,1564514271.194 [DataOverHttps](INFO): Moved sent file to Logs/20190730T190859/Express0005.lzma.bak
2019-07-30T19:17:51.194Z,1564514271.194 [DataOverHttps](INFO): SBD MOMSN=11483551
2019-07-30T19:17:53.002Z,1564514273.002 [Default:CheckIn:Read_Iridium] Stopped
2019-07-30T19:17:53.002Z,1564514273.002 [Default:CheckIn:C.Wait] Running Loop=1
2019-07-30T19:17:53.002Z,1564514273.002 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2019-07-30T19:18:03.069Z,1564514283.069 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-07-30T19:18:03.070Z,1564514283.070 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 4
2019-07-30T19:18:03.070Z,1564514283.070 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-07-30T19:18:03.080Z,1564514283.080 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-07-30T19:18:03.487Z,1564514283.487 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-07-30T19:18:03.487Z,1564514283.487 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 4
2019-07-30T19:20:04.264Z,1564514404.264 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-07-30T19:20:04.264Z,1564514404.264 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 5
2019-07-30T19:20:04.265Z,1564514404.265 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-07-30T19:20:04.275Z,1564514404.275 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-07-30T19:20:04.687Z,1564514404.687 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-07-30T19:20:04.687Z,1564514404.687 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 5
2019-07-30T19:22:05.462Z,1564514525.462 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-07-30T19:22:05.462Z,1564514525.462 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 6
2019-07-30T19:22:05.462Z,1564514525.462 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-07-30T19:22:05.472Z,1564514525.472 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-07-30T19:22:05.887Z,1564514525.887 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-07-30T19:22:05.887Z,1564514525.887 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 6
2019-07-30T19:22:53.551Z,1564514573.551 [Default:CheckIn:C.Wait](INFO): Done Waiting.
2019-07-30T19:22:53.551Z,1564514573.551 [Default:CheckIn:C.Wait] Stopped
2019-07-30T19:22:53.552Z,1564514573.552 [Default:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2019-07-30T19:22:53.552Z,1564514573.552 [Default:CheckIn:D] Running Loop=1
2019-07-30T19:22:53.961Z,1564514573.961 [Default:CheckIn:D] Stopped
2019-07-30T19:22:53.961Z,1564514573.961 [Default:CheckIn:E] Running Loop=1
2019-07-30T19:22:54.352Z,1564514574.352 [Default:CheckIn:E](IMPORTANT): Default mission has been running for 11.299241 min 
2019-07-30T19:22:54.352Z,1564514574.352 [Default:CheckIn:E] Stopped
2019-07-30T19:22:54.352Z,1564514574.352 [Default:CheckIn](INFO): Completed Default:CheckIn
2019-07-30T19:22:54.352Z,1564514574.352 [Default:CheckIn] Stopped
2019-07-30T19:22:54.352Z,1564514574.352 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-07-30T19:22:54.352Z,1564514574.352 [Default:CheckIn](INFO): Running loop #2
2019-07-30T19:22:54.353Z,1564514574.353 [Default:CheckIn] Running Loop=2
2019-07-30T19:22:54.353Z,1564514574.353 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-07-30T19:22:54.353Z,1564514574.353 [Default:CheckIn:Read_GPS] Running Loop=1
2019-07-30T19:22:55.946Z,1564514575.946 [NAL9602](FAULT): GPS failed to acquire within timeout.
2019-07-30T19:22:55.946Z,1564514575.946 [NAL9602] Data Fault, FailCount= 1
2019-07-30T19:22:55.946Z,1564514575.946 [NAL9602](ERROR): Data Fault
2019-07-30T19:22:55.984Z,1564514575.984 [CBIT](ERROR): Data Fault in component: NAL9602
2019-07-30T19:22:56.350Z,1564514576.350 [NAL9602](INFO): Powering down
2019-07-30T19:22:56.851Z,1564514576.851 [CommandLine](IMPORTANT): got command run ./Missions/Science/esp_kiss.xml
2019-07-30T19:22:56.851Z,1564514576.851 [MissionManager](INFO): Loading Mission: ./Missions/Science/esp_kiss.xml
2019-07-30T19:22:57.009Z,1564514577.009 [MissionManager](INFO): DefineArg esp_kiss.MissionTimeout = 4.000000 h
2019-07-30T19:22:57.012Z,1564514577.012 [MissionManager](INFO): DefineArg esp_kiss.TargetDepth = 3.000000 m
2019-07-30T19:22:57.015Z,1564514577.015 [MissionManager](INFO): DefineArg esp_kiss.ESPCartridgeType_1 = -4.000000 count
2019-07-30T19:22:57.018Z,1564514577.018 [MissionManager](INFO): DefineArg esp_kiss.ESPCartridgeType_2 = -9.000000 count
2019-07-30T19:22:57.021Z,1564514577.021 [MissionManager](INFO): DefineArg esp_kiss.ESPCartridgeType_3 = nan count
2019-07-30T19:22:57.024Z,1564514577.024 [MissionManager](INFO): DefineArg esp_kiss.ESPCartridgeType_4 = nan count
2019-07-30T19:22:57.027Z,1564514577.027 [MissionManager](INFO): DefineArg esp_kiss.SettleTime = 3.000000 min
2019-07-30T19:22:57.030Z,1564514577.030 [MissionManager](INFO): DefineArg esp_kiss.Speed = 0.000000 m/s
2019-07-30T19:22:57.033Z,1564514577.033 [MissionManager](INFO): DefineArg esp_kiss.ApproachDepth = 2.000000 m
2019-07-30T19:22:57.035Z,1564514577.035 [MissionManager](INFO): DefineArg esp_kiss.ApproachSpeed = 0.700000 m/s
2019-07-30T19:22:57.039Z,1564514577.039 [MissionManager](INFO): DefineArg esp_kiss.ApproachDepthRate = 0.050000 m/s
2019-07-30T19:22:57.042Z,1564514577.042 [MissionManager](INFO): DefineArg esp_kiss.ApproachPitchLimit = 10.000000 arcdeg
2019-07-30T19:22:57.046Z,1564514577.046 [MissionManager](INFO): DefineArg esp_kiss.ApproachSettleTimePreDive = 1.000000 min
2019-07-30T19:22:57.049Z,1564514577.049 [MissionManager](INFO): DefineArg esp_kiss.ApproachSettleTimePostDive = 3.000000 min
2019-07-30T19:22:57.052Z,1564514577.052 [MissionManager](INFO): DefineArg esp_kiss.ApproachDepthTimeout = 15.000000 min
2019-07-30T19:22:57.056Z,1564514577.056 [MissionManager](INFO): DefineArg esp_kiss.kpDepth = 0.070000 rad/m
2019-07-30T19:22:57.059Z,1564514577.059 [MissionManager](INFO): DefineArg esp_kiss.DepthDeadband = 0.010000 m
2019-07-30T19:22:57.069Z,1564514577.069 [MissionManager](INFO): DefineArg esp_kiss.MinAltitude = 2.000000 m
2019-07-30T19:22:57.072Z,1564514577.072 [MissionManager](INFO): DefineArg esp_kiss.MaxDepth = 5.000000 m
2019-07-30T19:22:57.075Z,1564514577.075 [MissionManager](INFO): DefineArg esp_kiss.MinOffshore = 1.000000 km
2019-07-30T19:22:57.119Z,1564514577.119 [MissionManager](INFO): DefineOutput esp_kiss.ESPCartridgeType = nan count
2019-07-30T19:22:57.120Z,1564514577.120 [esp_kiss:A.AbortSample](DEBUG): Construct.
2019-07-30T19:22:57.121Z,1564514577.121 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml
2019-07-30T19:22:57.184Z,1564514577.184 [MissionManager](INFO): DefineArg esp_kiss:StandardEnvelopes.MinAltitude = 5.000000 m
2019-07-30T19:22:57.199Z,1564514577.199 [MissionManager](INFO): DefineArg esp_kiss:StandardEnvelopes.MaxDepth = 200.000000 m
2019-07-30T19:22:57.215Z,1564514577.215 [MissionManager](INFO): DefineArg esp_kiss:StandardEnvelopes.MinOffshore = 2000.000000 m
2019-07-30T19:22:57.216Z,1564514577.216 [esp_kiss:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2019-07-30T19:22:57.230Z,1564514577.230 [CBIT](INFO): Clearing failed state for component NAL9602
2019-07-30T19:22:57.230Z,1564514577.230 [NAL9602] No Fault, FailCount= 1
2019-07-30T19:22:57.244Z,1564514577.244 [esp_kiss:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2019-07-30T19:22:57.259Z,1564514577.259 [esp_kiss:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2019-07-30T19:22:57.298Z,1564514577.298 [MissionManager](INFO): Inserting Stack: Missions/Insert/NeedComms.xml
2019-07-30T19:22:57.387Z,1564514577.387 [MissionManager](INFO): DefineArg esp_kiss:NeedComms.DiveInterval = 3.000000 h
2019-07-30T19:22:57.401Z,1564514577.401 [MissionManager](INFO): DefineArg esp_kiss:NeedComms.WaitForPitchUp = 10.000000 min
2019-07-30T19:22:57.405Z,1564514577.405 [MissionManager](INFO): DefineArg esp_kiss:NeedComms.SurfacePitch = 20.000000 arcdeg
2019-07-30T19:22:57.408Z,1564514577.408 [MissionManager](INFO): DefineArg esp_kiss:NeedComms.SurfaceDepthRate = nan m/s
2019-07-30T19:22:57.426Z,1564514577.426 [MissionManager](INFO): DefineArg esp_kiss:NeedComms.SurfaceSpeed = 1.000000 m/s
2019-07-30T19:22:57.431Z,1564514577.431 [MissionManager](INFO): DefineArg esp_kiss:NeedComms.GPSTimeout = 7.000000 min
2019-07-30T19:22:57.442Z,1564514577.442 [MissionManager](INFO): DefineArg esp_kiss:NeedComms.CommsTimeout = 30.000000 min
2019-07-30T19:22:57.447Z,1564514577.447 [esp_kiss:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2019-07-30T19:22:57.503Z,1564514577.503 [esp_kiss:SampleESP:sample:B.Wait](DEBUG): Construct Wait.
2019-07-30T19:22:57.529Z,1564514577.529 [MissionManager](ERROR): Slate does not contain CTD_NeilBrown.bin_mean_sea_water_temperature
2019-07-30T19:22:57.529Z,1564514577.529 [MissionManager](ERROR): Slate does not contain celsius
2019-07-30T19:22:57.529Z,1564514577.529 [MissionManager](ERROR): Slate does not contain WetLabsBB2FL.bin_mean_mass_concentration_of_chlorophyll_in_sea_water
2019-07-30T19:22:57.530Z,1564514577.530 [MissionManager](ERROR): Slate does not contain microgram_per_liter
2019-07-30T19:22:57.532Z,1564514577.532 [MissionManager](INFO): Inserting Stack: Missions/Insert/Science.xml
2019-07-30T19:22:57.917Z,1564514577.917 [MissionManager](INFO): DefineArg esp_kiss:Science.SampleISUS = 0 bool
2019-07-30T19:22:57.920Z,1564514577.920 [MissionManager](INFO): DefineArg esp_kiss:Science.SampleISUSmaxPitch = 60.000000 arcdeg
2019-07-30T19:22:57.933Z,1564514577.933 [MissionManager](INFO): DefineArg esp_kiss:Science.SampleISUSminPitch = -60.000000 arcdeg
2019-07-30T19:22:57.935Z,1564514577.935 [MissionManager](INFO): DefineArg esp_kiss:Science.PeakDetectChlActive = 0 bool
2019-07-30T19:22:57.939Z,1564514577.939 [MissionManager](INFO): DefineArg esp_kiss:Science.TimeWindowPeakReport = nan min
2019-07-30T19:22:57.949Z,1564514577.949 [MissionManager](INFO): DefineArg esp_kiss:Science.HighestChlPeakReportActive = 0 bool
2019-07-30T19:22:57.952Z,1564514577.952 [MissionManager](INFO): DefineArg esp_kiss:Science.PatchTracking = 0 bool
2019-07-30T19:22:57.991Z,1564514577.991 [MissionManager](INFO): DefineArg esp_kiss:Science.FilterWidthHorizontal = 3.000000 count
2019-07-30T19:22:58.006Z,1564514578.006 [MissionManager](INFO): DefineArg esp_kiss:Science.NumProfilesSlidingwindow = 100.000000 count
2019-07-30T19:22:58.017Z,1564514578.017 [MissionManager](INFO): DefineArg esp_kiss:Science.OffPeakFractionHorizontal = 80.000000 %
2019-07-30T19:22:58.029Z,1564514578.029 [MissionManager](INFO): DefineArg esp_kiss:Science.PeakDetectNO3Active = 0 bool
2019-07-30T19:22:58.032Z,1564514578.032 [MissionManager](INFO): DefineArg esp_kiss:Science.PeakDetectOilActive = 0 bool
2019-07-30T19:22:58.043Z,1564514578.043 [MissionManager](INFO): DefineArg esp_kiss:Science.PeakDetectFDOMActive = 0 bool
2019-07-30T19:22:58.046Z,1564514578.046 [MissionManager](INFO): DefineArg esp_kiss:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2019-07-30T19:22:58.054Z,1564514578.054 [MissionManager](INFO): DefineArg esp_kiss:Science.EnabledAanderaaO2 = 0.000000 bool
2019-07-30T19:22:58.061Z,1564514578.061 [MissionManager](INFO): DefineArg esp_kiss:Science.EnabledNeilBrown = 0.000000 bool
2019-07-30T19:22:58.069Z,1564514578.069 [MissionManager](INFO): DefineArg esp_kiss:Science.EnabledSeabird = 0.000000 bool
2019-07-30T19:22:58.075Z,1564514578.075 [MissionManager](INFO): DefineArg esp_kiss:Science.EnabledTurbulence_NPS = 0.000000 bool
2019-07-30T19:22:58.079Z,1564514578.079 [MissionManager](INFO): DefineArg esp_kiss:Science.EnabledWetLabsBB2FL = 0.000000 bool
2019-07-30T19:22:58.082Z,1564514578.082 [MissionManager](INFO): DefineArg esp_kiss:Science.EnabledWetLabsSeaOWL_UV_A = 0.000000 bool
2019-07-30T19:22:58.109Z,1564514578.109 [MissionManager](INFO): DefineArg esp_kiss:Science.EnabledWetLabsUBAT = 0.000000 bool
2019-07-30T19:22:58.113Z,1564514578.113 [MissionManager](INFO): DefineArg esp_kiss:Science.EnabledISUS = 0.000000 bool
2019-07-30T19:22:58.116Z,1564514578.116 [MissionManager](INFO): DefineArg esp_kiss:Science.LowPassWindowLength = 20.000000 count
2019-07-30T19:22:58.119Z,1564514578.119 [MissionManager](INFO): DefineArg esp_kiss:Science.MedianFilterLen = 5.000000 count
2019-07-30T19:22:58.133Z,1564514578.133 [MissionManager](INFO): DefineArg esp_kiss:Science.PeakChlShallowBound = nan m
2019-07-30T19:22:58.136Z,1564514578.136 [MissionManager](INFO): DefineArg esp_kiss:Science.PeakChlDeepBound = nan m
2019-07-30T19:22:58.155Z,1564514578.155 [MissionManager](INFO): DefineArg esp_kiss:Science.PeakShallowBound = nan m
2019-07-30T19:22:58.158Z,1564514578.158 [MissionManager](INFO): DefineArg esp_kiss:Science.PeakDeepBound = nan m
2019-07-30T19:22:58.161Z,1564514578.161 [MissionManager](INFO): DefineOutput esp_kiss:Science.PeakChl = 0.000000 ug/l
2019-07-30T19:22:58.164Z,1564514578.164 [MissionManager](INFO): DefineOutput esp_kiss:Science.PeakChlDepth = 0.000000 m
2019-07-30T19:22:58.188Z,1564514578.188 [MissionManager](INFO): DefineOutput esp_kiss:Science.PeakChlTemperature = 0.000000 degC
2019-07-30T19:22:58.192Z,1564514578.192 [MissionManager](INFO): DefineOutput esp_kiss:Science.PeakChlLatitude = nan arcdeg
2019-07-30T19:22:58.195Z,1564514578.195 [MissionManager](INFO): DefineOutput esp_kiss:Science.PeakChlLongitude = nan arcdeg
2019-07-30T19:22:58.213Z,1564514578.213 [MissionManager](INFO): DefineOutput esp_kiss:Science.PeakNO3 = 0.000000 umol/l
2019-07-30T19:22:58.217Z,1564514578.217 [MissionManager](INFO): DefineOutput esp_kiss:Science.PeakNO3Depth = 0.000000 m
2019-07-30T19:22:58.220Z,1564514578.220 [MissionManager](INFO): DefineOutput esp_kiss:Science.PeakNO3Latitude = nan arcdeg
2019-07-30T19:22:58.235Z,1564514578.235 [MissionManager](INFO): DefineOutput esp_kiss:Science.PeakNO3Longitude = nan arcdeg
2019-07-30T19:22:58.238Z,1564514578.238 [MissionManager](INFO): DefineOutput esp_kiss:Science.PatchChl = 0.000000 m
2019-07-30T19:22:58.241Z,1564514578.241 [MissionManager](INFO): DefineOutput esp_kiss:Science.PatchChlDepth = 0.000000 m
2019-07-30T19:22:58.261Z,1564514578.261 [MissionManager](INFO): DefineOutput esp_kiss:Science.PatchChlLatitude = nan arcdeg
2019-07-30T19:22:58.264Z,1564514578.264 [MissionManager](INFO): DefineOutput esp_kiss:Science.PatchChlLongitude = nan arcdeg
2019-07-30T19:22:58.274Z,1564514578.274 [MissionManager](INFO): DefineOutput esp_kiss:Science.PatchChlDistance = nan m
2019-07-30T19:22:58.280Z,1564514578.280 [MissionManager](INFO): DefineOutput esp_kiss:Science.PeakOil = 0.000000 kg/m3
2019-07-30T19:22:58.283Z,1564514578.283 [MissionManager](INFO): DefineOutput esp_kiss:Science.PeakOilDepth = 0.000000 m
2019-07-30T19:22:58.286Z,1564514578.286 [MissionManager](INFO): DefineOutput esp_kiss:Science.PeakOilLatitude = nan arcdeg
2019-07-30T19:22:58.302Z,1564514578.302 [MissionManager](INFO): DefineOutput esp_kiss:Science.PeakOilLongitude = nan arcdeg
2019-07-30T19:22:58.305Z,1564514578.305 [MissionManager](INFO): DefineOutput esp_kiss:Science.PeakFDOM = 0.000000 ppb
2019-07-30T19:22:58.308Z,1564514578.308 [MissionManager](INFO): DefineOutput esp_kiss:Science.PeakFDOMDepth = 0.000000 m
2019-07-30T19:22:58.330Z,1564514578.330 [MissionManager](INFO): DefineOutput esp_kiss:Science.PeakFDOMLatitude = nan arcdeg
2019-07-30T19:22:58.334Z,1564514578.334 [MissionManager](INFO): DefineOutput esp_kiss:Science.PeakFDOMLongitude = nan arcdeg
2019-07-30T19:22:58.338Z,1564514578.338 [MissionManager](INFO): DefineOutput esp_kiss:Science.PatchFDOMDistance = nan m
2019-07-30T19:22:58.402Z,1564514578.402 [esp_kiss:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2019-07-30T19:22:58.443Z,1564514578.443 [esp_kiss:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2019-07-30T19:22:58.469Z,1564514578.469 [esp_kiss:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2019-07-30T19:22:58.491Z,1564514578.491 [esp_kiss:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2019-07-30T19:22:58.514Z,1564514578.514 [esp_kiss:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2019-07-30T19:22:58.566Z,1564514578.566 [esp_kiss:InitialDive:C.Pitch](DEBUG): Construct.
2019-07-30T19:22:58.589Z,1564514578.589 [esp_kiss:InitialDive:D.Point](DEBUG): Construct.
2019-07-30T19:22:58.595Z,1564514578.595 [esp_kiss:InitialDive:E.Buoyancy](DEBUG): Construct Buoyancy.
2019-07-30T19:22:58.612Z,1564514578.612 [esp_kiss:InitialDive:G.Wait](DEBUG): Construct Wait.
2019-07-30T19:22:58.615Z,1564514578.615 [esp_kiss:InitialDive:ApproachDepth:A.SetSpeed](DEBUG): Construct.
2019-07-30T19:22:58.619Z,1564514578.619 [esp_kiss:InitialDive:ApproachDepth:B.Pitch](DEBUG): Construct.
2019-07-30T19:22:58.635Z,1564514578.635 [esp_kiss:InitialDive:ApproachDepth:B.Pitch:A_Timeout:B.Execute](DEBUG): Construct Execute.
2019-07-30T19:22:58.640Z,1564514578.640 [esp_kiss:SettleAtDepth:B.Pitch](DEBUG): Construct.
2019-07-30T19:22:58.658Z,1564514578.658 [esp_kiss:SettleAtDepth:C.Wait](DEBUG): Construct Wait.
2019-07-30T19:22:58.661Z,1564514578.661 [esp_kiss:SampleAtTargetDepth:A.SetSpeed](DEBUG): Construct.
2019-07-30T19:22:58.664Z,1564514578.664 [esp_kiss:SampleAtTargetDepth:B.Pitch](DEBUG): Construct.
2019-07-30T19:22:58.705Z,1564514578.705 [esp_kiss:SampleAtTargetDepth:Spinout:HoldMassPosition.Pitch](DEBUG): Construct.
2019-07-30T19:22:58.711Z,1564514578.711 [esp_kiss:SampleAtTargetDepth:Spinout:HoldBuoyancyPosition.Buoyancy](DEBUG): Construct Buoyancy.
2019-07-30T19:22:58.715Z,1564514578.715 [esp_kiss:SampleAtTargetDepth:Spinout:HoldRudderAngle.Point](DEBUG): Construct.
2019-07-30T19:22:58.894Z,1564514578.894 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>

<Mission xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
         xmlns="Tethys"
         xmlns:Units="Tethys/Units"
         xmlns:Guidance="Tethys/Guidance"
         xmlns:Control="Tethys/Control"
         xsi:schemaLocation="Tethys http://okeanids.mbari.org/tethys/Xml/Tethys.xsd
                             Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd
                             Tethys/Guidance http://okeanids.mbari.org/tethys/Xml/Guidance.xsd
                             Tethys/Control http://okeanids.mbari.org/tethys/Xml/Control.xsd
                             Tethys/Science http://okeanids.mbari.org/tethys/Xml/Science.xsd"
       Id="esp_kiss">

    <Description>
        This mission takes ESP samples at the designated depth.
    </Description>

    <DefineArg Name="MissionTimeout"><Description>
        Maximum duration of mission.
    </Description><Units:hour/><Value>4</Value></DefineArg>

    <DefineArg Name="TargetDepth"><Description>
        Depth to sample at. Initialized to 3 m.
    </Description><Units:meter/><Value>3</Value></DefineArg>

    <DefineArg Name="ESPCartridgeType_1"><Description>
        Specifies ESP cartridge type code for sample# 1. Set to NaN to skip this sample.
    </Description><Units:count/><Value>-4</Value></DefineArg>

    <DefineArg Name="ESPCartridgeType_2"><Description>
        Specifies ESP cartridge type code for sample# 2. Set to NaN to skip this sample.
    </Description><Units:count/><Value>-9</Value></DefineArg>

    <DefineArg Name="ESPCartridgeType_3"><Description>
        Specifies ESP cartridge type code for sample# 3. Set to NaN to skip this sample.
    </Description><Units:count/><Value>NaN</Value></DefineArg>

    <DefineArg Name="ESPCartridgeType_4"><Description>
        Specifies ESP cartridge type code for sample# 4. Set to NaN to skip this sample.
    </Description><Units:count/><Value>NaN</Value></DefineArg>

    <DefineArg Name="SettleTime"><Description>
        How long to wait between samples. This starts *before* the first sample.
    </Description><Units:minute/><Value>3</Value></DefineArg>

    <DefineArg Name="Speed"><Description>
        Vehicle speed while sampling. Set to zero to maintain depth using VBS (drift).
    </Description><Units:meter_per_second/><Value>0</Value></DefineArg>

    <DefineArg Name="ApproachDepth"><Description>
        Depth for initial descent form the surface. Initialized to 3 m.
    </Description><Units:meter/><Value>2</Value></DefineArg>

    <DefineArg Name="ApproachSpeed"><Description>
        Vehicle speed for initial descent form the surface to target depth. Set to zero
        to disable the thruster and descend using VBS (drift).
    </Description><Units:meter_per_second/><Value>0.7</Value></DefineArg>

    <DefineArg Name="ApproachDepthRate"><Description>
        Descent depth rate (Positive depth rate means going down).
    </Description><Units:meter_per_second/><Value>0.05</Value></DefineArg>

    <DefineArg Name="ApproachPitchLimit"><Description>
        Max vehicle pitch (+/-) when decending from the surface.
    </Description><Units:degree/><Value>10</Value></DefineArg>

    <DefineArg Name="ApproachSettleTimePreDive"><Description>
        Time duration for the vehicle to pump down the VBS *BEFORE* leaving the surface.
    </Description><Units:minute/><Value>1</Value></DefineArg>

    <DefineArg Name="ApproachSettleTimePostDive"><Description>
        Time duration for the vehicle to settele *AFTER* reaching the target depth.
    </Description><Units:minute/><Value>3</Value></DefineArg>

    <DefineArg Name="ApproachDepthTimeout"><Description>
        Maximum time duration for the vehicle to reach the target depth.
    </Description><Units:minute/><Value>15</Value></DefineArg>

    <DefineArg Name="kpDepth"><Description>
        Dive loop proportional gain (applied only while the vehicle is descending to target depth).
    </Description><Units:radian_per_meter/><Value>0.07</Value></DefineArg>

    <DefineArg Name="DepthDeadband"><Description>
        How much vertical drift from the specified depth is allowed while sampling.
    </Description><Units:meter/><Value>0.01</Value></DefineArg>

    <DefineArg Name="MinAltitude"><Description>
        Minimum height above the sea floor for the entire mission.
    </Description><Units:meter/><Value>2</Value></DefineArg>

    <DefineArg Name="MaxDepth"><Description>
        Maximum allowable depth during the mission.
    </Description><Units:meter/><Value>5</Value></DefineArg>

    <DefineArg Name="MinOffshore"><Description>
        Minimum distance from the shoreline to maintain.
    </Description><Units:kilometer/><Value>1</Value></DefineArg>

    <DefineOutput Name="ESPCartridgeType"><Description>
        Mission parameter (don't change). Specifies ESP cartridge type code.
    </Description><Units:count/><Value>NaN</Value></DefineOutput>
    
    <!-- Mission timeout -->

    <Timeout Duration="MissionTimeout"/>

    <!-- Safety nets and surfacing behaviors -->

    <Trigger:AbortSample>
        <Parallel/>
    </Trigger:AbortSample>

    <Insert Filename="Insert/StandardEnvelopes.xml"/>

    <Assign><Sequence/><Arg Name="StandardEnvelopes:MaxDepth"/><Arg Name="MaxDepth"/></Assign>

    <Assign><Sequence/><Arg Name="StandardEnvelopes:MinAltitude"/><Arg Name="MinAltitude"/></Assign>

    <Assign><Sequence/><Arg Name="StandardEnvelopes:MinOffshore"/><Arg Name="MinOffshore"/></Assign>


    <Insert Filename="Insert/NeedComms.xml" Id="NeedComms"/>

    <Assign><Sequence/><Arg Name="NeedComms:DiveInterval"/><Arg Name="MissionTimeout"/></Assign>

    <Assign><Sequence/><Arg Name="NeedComms:WaitForPitchUp"/><Units:minute/><Value>0</Value></Assign>


    <Assign><Parallel/><Control:VerticalControl.depthDeadband/><Arg Name="DepthDeadband"/></Assign>

        
    <!-- Callable aggregate -->

    <Aggregate Id="SampleESP">
        
        <When>
            <Called/>
        </When>

        <Aggregate Id="sample">
            <Sequence/>

            <Syslog Severity="Important">At <Universal:depth/><Units:meter/>, settling for <Arg Name="SettleTime"/><Units:minute/></Syslog>

            <Guidance:Wait>
                <Sequence/>
                <Setting><Guidance:Wait.duration/><Arg Name="SettleTime"/></Setting>
            </Guidance:Wait>

            <Syslog Severity="Important">Requesting ESP cartridge type:<Arg Name="ESPCartridgeType"/><Units:count/></Syslog>

            <Assign><Sequence/><Science:ESPComponent.cartridge/><Arg Name="ESPCartridgeType"/></Assign>

            <ReadDatum Id="TriggerESP">
                <Science:ESPComponent.sampling/>
            </ReadDatum>

            <Syslog Severity="Important">ESP sampling at <Universal:depth/><Units:meter/> in <Science:CTD_NeilBrown.bin_mean_sea_water_temperature/><Units:celsius/> water with <Science:WetLabsBB2FL.bin_mean_mass_concentration_of_chlorophyll_in_sea_water/><Units:microgram_per_liter/>chlorophyll fluorescence.</Syslog>

            <ReadDatum Id="WaitForESP">
                <Science:ESPComponent.sample_number/>
            </ReadDatum>
        </Aggregate>

    </Aggregate>


    <!-- Start mission sequence -->

    <Call Id="StartingMission" RefId="NeedComms"/>
    
    <Insert Filename="Insert/Science.xml"></Insert>

    <Aggregate Id="InitialDive">
        <Description>
            Descend from the surface to approach depth at ApproachSpeed, limit pitch,
            depth-rate, and hold the rudder.
        </Description>

        <Sequence/>

        <Assign><Parallel/><Control:VerticalControl.pitchLimit/><Arg Name="ApproachPitchLimit"/></Assign>

        <Assign><Parallel/><Control:VerticalControl.kpDepth/><Arg Name="kpDepth"/></Assign>

        <Guidance:Pitch>
            <Parallel/>
            <Setting><Guidance:Pitch.massPosition/><Control:VerticalControl.massDefault/></Setting>
        </Guidance:Pitch>

        <Guidance:Point>
            <Parallel/>
            <Setting><Guidance:Point.rudderAngle/><Units:degree/><Value>13</Value></Setting>
        </Guidance:Point>
        
        <Guidance:Buoyancy>
            <Parallel/>
            <Setting><Guidance:Buoyancy.position/><Control:VerticalControl.buoyancyNeutral/></Setting>
        </Guidance:Buoyancy>

        <Syslog Severity="Info">Waiting for <Arg Name="ApproachSettleTimePreDive"/><Units:minute/>while pumping down to neutral.</Syslog>

        <Guidance:Wait>
            <Description>Take a few moments to ensure the VBS reaches neutral.</Description>
            <Sequence/>
            <Setting><Guidance:Wait.duration/><Arg Name="ApproachSettleTimePreDive"/></Setting>
        </Guidance:Wait>

        <Syslog>Moving to <Arg Name="ApproachDepth"/><Units:meter/></Syslog>

        <Aggregate Id="ApproachDepth">

            <Sequence/>

            <Guidance:SetSpeed>
                <Parallel/>
                <Setting><Guidance:SetSpeed.speed/><Arg Name="ApproachSpeed"/></Setting>
            </Guidance:SetSpeed>

            <Guidance:Pitch>
                <Sequence/>

                <Timeout Duration="ApproachDepthTimeout">
                    <Syslog Severity="Important">Timed out while trying to reach target depth at current depth of <Universal:depth/><Units:meter/>.</Syslog>
                    <Guidance:Execute>
                        <Sequence/>
                        <Setting><Guidance:Execute.command/><String>stop</String></Setting>
                    </Guidance:Execute>
                </Timeout>

                <Setting><Guidance:Pitch.depth/><Arg Name="ApproachDepth"/></Setting>
                <Setting><Guidance:Pitch.depthRate/><Arg Name="ApproachDepthRate"/></Setting>
            </Guidance:Pitch>

        </Aggregate>

    </Aggregate>

    <Aggregate Id="SettleAtDepth">
        <Description>
            Take a few more moments here to ensure the vechile is settled at the target depth.
        </Description>

        <Sequence/>

        <Syslog Severity="Info">Reached <Universal:depth/><Units:meter/>, settling for <Arg Name="ApproachSettleTimePostDive"/><Units:minute/></Syslog>

        <Guidance:Pitch>
            <Parallel/>
            <Setting><Guidance:Pitch.depth/><Arg Name="TargetDepth"/></Setting>
        </Guidance:Pitch>

        <Guidance:Wait>
            <Sequence/>
            <Setting><Guidance:Wait.duration/><Arg Name="ApproachSettleTimePostDive"/></Setting>
        </Guidance:Wait>

    </Aggregate>

    <Aggregate Id="SampleAtTargetDepth">
        <Description>
            Maintain target depth and acquire ESP samples.
        </Description>

        <Sequence/>

        <Guidance:SetSpeed>
            <Parallel/>
            <Setting><Guidance:SetSpeed.speed/><Arg Name="Speed"/></Setting>
        </Guidance:SetSpeed>

        <Guidance:Pitch>
            <Parallel/>
            <Setting><Guidance:Pitch.depth/><Arg Name="TargetDepth"/></Setting>
        </Guidance:Pitch>
        
        <Aggregate Id="Spinout">
            <Description>
                A speed has been specified, spin in circels while sampling.
            </Description>
            
            <While>
                <Arg Name="Speed"/><Gt><Units:meter_per_second/><Value>0.0</Value></Gt>
            </While>
            
            <Guidance:Pitch Id="HoldMassPosition">
                <Parallel/>
                <Setting><Guidance:Pitch.massPosition/><Control:VerticalControl.massDefault/></Setting>
            </Guidance:Pitch>
            
            <Guidance:Buoyancy Id="HoldBuoyancyPosition">
                <Parallel/>
                <Setting><Guidance:Buoyancy.position/><Control:VerticalControl.buoyancyNeutral/></Setting>
            </Guidance:Buoyancy>

            <Guidance:Point Id="HoldRudderAngle">
                <Setting><Guidance:Point.rudderAngle/><Units:degree/><Value>13</Value></Setting>
            </Guidance:Point>

        </Aggregate>

        <Aggregate Id="GrabSamples">

            <Sequence/>

            <Aggregate Id="Sample1">
                <Break>
                    <IsNaN><Arg Name="ESPCartridgeType_1"/></IsNaN>
                </Break>

                <Assign><Sequence/><Arg Name="ESPCartridgeType"/><Arg Name="ESPCartridgeType_1"/></Assign>

                <Call RefId="SampleESP"/>
            </Aggregate>


            <Aggregate Id="Sample2">
                <Break>
                    <IsNaN><Arg Name="ESPCartridgeType_2"/></IsNaN>
                </Break>

                <Assign><Sequence/><Arg Name="ESPCartridgeType"/><Arg Name="ESPCartridgeType_2"/></Assign>

                <Call RefId="SampleESP"/>
            </Aggregate>


            <Aggregate Id="Sample3">
                <Break>
                    <IsNaN><Arg Name="ESPCartridgeType_3"/></IsNaN>
                </Break>
                
                <Assign><Sequence/><Arg Name="ESPCartridgeType"/><Arg Name="ESPCartridgeType_3"/></Assign>
                
                <Call RefId="SampleESP"/>
            </Aggregate>


            <Aggregate Id="Sample4">
                <Break>
                    <IsNaN><Arg Name="ESPCartridgeType_4"/></IsNaN>
                </Break>

                <Assign><Sequence/><Arg Name="ESPCartridgeType"/><Arg Name="ESPCartridgeType_4"/></Assign>

                <Call RefId="SampleESP"/>
            </Aggregate>

        </Aggregate>

    </Aggregate>

</Mission>


2019-07-30T19:22:58.901Z,1564514578.901 [CommandLine](IMPORTANT): Running ./Missions/Science/esp_kiss.xml
2019-07-30T19:22:59.220Z,1564514579.220 [Default] Stopped
2019-07-30T19:22:59.220Z,1564514579.220 [Default](DEBUG): Aggregate::uninitialize Default
2019-07-30T19:22:59.220Z,1564514579.220 [Default:B.GoToSurface] Stopped
2019-07-30T19:22:59.220Z,1564514579.220 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-07-30T19:22:59.220Z,1564514579.220 [Default:CheckIn] Stopped
2019-07-30T19:22:59.220Z,1564514579.220 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-07-30T19:22:59.225Z,1564514579.225 [Default:CheckIn:Read_GPS] Stopped
2019-07-30T19:22:59.225Z,1564514579.225 [MissionManager](IMPORTANT): Started mission esp_kiss
2019-07-30T19:22:59.225Z,1564514579.225 [esp_kiss] Running Loop=1
2019-07-30T19:22:59.225Z,1564514579.225 [esp_kiss](DEBUG): Aggregate::initialize esp_kiss
2019-07-30T19:22:59.225Z,1564514579.225 [esp_kiss:A.AbortSample] Running Loop=1
2019-07-30T19:22:59.226Z,1564514579.226 [esp_kiss:A.AbortSample](INFO): Initializing AbortSample.
2019-07-30T19:22:59.226Z,1564514579.226 [esp_kiss:StandardEnvelopes] Running Loop=1
2019-07-30T19:22:59.226Z,1564514579.226 [esp_kiss:StandardEnvelopes](DEBUG): Aggregate::initialize esp_kiss:StandardEnvelopes
2019-07-30T19:22:59.226Z,1564514579.226 [esp_kiss:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2019-07-30T19:22:59.226Z,1564514579.226 [esp_kiss:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2019-07-30T19:22:59.226Z,1564514579.226 [esp_kiss:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2019-07-30T19:22:59.226Z,1564514579.226 [esp_kiss:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2019-07-30T19:22:59.227Z,1564514579.227 [esp_kiss:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2019-07-30T19:22:59.227Z,1564514579.227 [esp_kiss:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2019-07-30T19:22:59.227Z,1564514579.227 [esp_kiss:I] Running Loop=1
2019-07-30T19:22:59.227Z,1564514579.227 [esp_kiss:Science] Running Loop=1
2019-07-30T19:22:59.227Z,1564514579.227 [esp_kiss:Science](DEBUG): Aggregate::initialize esp_kiss:Science
2019-07-30T19:22:59.227Z,1564514579.227 [esp_kiss:Science:A] Running Loop=1
2019-07-30T19:22:59.227Z,1564514579.227 [esp_kiss:Science:B] Running Loop=1
2019-07-30T19:22:59.227Z,1564514579.227 [esp_kiss:Science:C] Running Loop=1
2019-07-30T19:22:59.227Z,1564514579.227 [esp_kiss:Science:D] Running Loop=1
2019-07-30T19:22:59.227Z,1564514579.227 [esp_kiss:Science:E] Running Loop=1
2019-07-30T19:22:59.227Z,1564514579.227 [esp_kiss:Science:F] Running Loop=1
2019-07-30T19:22:59.227Z,1564514579.227 [esp_kiss:Science:G] Running Loop=1
2019-07-30T19:22:59.227Z,1564514579.227 [esp_kiss:Science:H] Running Loop=1
2019-07-30T19:22:59.227Z,1564514579.227 [esp_kiss:Science:Read_Oil] Running Loop=1
2019-07-30T19:22:59.228Z,1564514579.228 [esp_kiss:Science:PeakDetectChl] Running Loop=1
2019-07-30T19:22:59.228Z,1564514579.228 [esp_kiss:Science:PeakDetectChl](DEBUG): Aggregate::initialize esp_kiss:Science:PeakDetectChl
2019-07-30T19:22:59.230Z,1564514579.230 [esp_kiss:Science:PeakDetectChl:A.PeakDetectVsDepth] Running Loop=1
2019-07-30T19:22:59.230Z,1564514579.230 [esp_kiss:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Initialize.
2019-07-30T19:22:59.232Z,1564514579.232 [esp_kiss:Science:HighestChlPeakReport] Running Loop=1
2019-07-30T19:22:59.241Z,1564514579.241 [esp_kiss:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize esp_kiss:Science:HighestChlPeakReport
2019-07-30T19:22:59.241Z,1564514579.241 [esp_kiss:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2019-07-30T19:22:59.241Z,1564514579.241 [esp_kiss:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2019-07-30T19:22:59.242Z,1564514579.242 [esp_kiss:Science:PeakDetectNO3] Running Loop=1
2019-07-30T19:22:59.242Z,1564514579.242 [esp_kiss:Science:PeakDetectNO3](DEBUG): Aggregate::initialize esp_kiss:Science:PeakDetectNO3
2019-07-30T19:22:59.242Z,1564514579.242 [esp_kiss:Science:PeakDetectNO3:A.PeakDetectVsDepth] Running Loop=1
2019-07-30T19:22:59.242Z,1564514579.242 [esp_kiss:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Initialize.
2019-07-30T19:22:59.244Z,1564514579.244 [esp_kiss:Science:PeakDetectOil] Running Loop=1
2019-07-30T19:22:59.244Z,1564514579.244 [esp_kiss:Science:PeakDetectOil](DEBUG): Aggregate::initialize esp_kiss:Science:PeakDetectOil
2019-07-30T19:22:59.244Z,1564514579.244 [esp_kiss:Science:PeakDetectOil:A.PeakDetectVsDepth] Running Loop=1
2019-07-30T19:22:59.244Z,1564514579.244 [esp_kiss:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Initialize.
2019-07-30T19:22:59.254Z,1564514579.254 [esp_kiss:Science:PeakDetectFDOM] Running Loop=1
2019-07-30T19:22:59.254Z,1564514579.254 [esp_kiss:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize esp_kiss:Science:PeakDetectFDOM
2019-07-30T19:22:59.254Z,1564514579.254 [esp_kiss:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Running Loop=1
2019-07-30T19:22:59.254Z,1564514579.254 [esp_kiss:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Initialize.
2019-07-30T19:22:59.256Z,1564514579.256 [esp_kiss:C] Running Loop=1
2019-07-30T19:22:59.257Z,1564514579.257 [esp_kiss:Science] Running Loop=1
2019-07-30T19:22:59.258Z,1564514579.258 [esp_kiss:Science:PeakDetectFDOM] Stopped
2019-07-30T19:22:59.258Z,1564514579.258 [esp_kiss:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize esp_kiss:Science:PeakDetectFDOM
2019-07-30T19:22:59.258Z,1564514579.258 [esp_kiss:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Stopped
2019-07-30T19:22:59.258Z,1564514579.258 [esp_kiss:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2019-07-30T19:22:59.258Z,1564514579.258 [esp_kiss:Science:PeakDetectOil] Stopped
2019-07-30T19:22:59.258Z,1564514579.258 [esp_kiss:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize esp_kiss:Science:PeakDetectOil
2019-07-30T19:22:59.258Z,1564514579.258 [esp_kiss:Science:PeakDetectOil:A.PeakDetectVsDepth] Stopped
2019-07-30T19:22:59.259Z,1564514579.259 [esp_kiss:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2019-07-30T19:22:59.259Z,1564514579.259 [esp_kiss:Science:PeakDetectNO3] Stopped
2019-07-30T19:22:59.259Z,1564514579.259 [esp_kiss:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize esp_kiss:Science:PeakDetectNO3
2019-07-30T19:22:59.259Z,1564514579.259 [esp_kiss:Science:PeakDetectNO3:A.PeakDetectVsDepth] Stopped
2019-07-30T19:22:59.259Z,1564514579.259 [esp_kiss:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2019-07-30T19:22:59.259Z,1564514579.259 [esp_kiss:Science:HighestChlPeakReport] Stopped
2019-07-30T19:22:59.259Z,1564514579.259 [esp_kiss:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize esp_kiss:Science:HighestChlPeakReport
2019-07-30T19:22:59.259Z,1564514579.259 [esp_kiss:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2019-07-30T19:22:59.259Z,1564514579.259 [esp_kiss:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2019-07-30T19:22:59.259Z,1564514579.259 [esp_kiss:Science:PeakDetectChl] Stopped
2019-07-30T19:22:59.259Z,1564514579.259 [esp_kiss:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize esp_kiss:Science:PeakDetectChl
2019-07-30T19:22:59.259Z,1564514579.259 [esp_kiss:Science:PeakDetectChl:A.PeakDetectVsDepth] Stopped
2019-07-30T19:22:59.259Z,1564514579.259 [esp_kiss:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2019-07-30T19:22:59.260Z,1564514579.260 [esp_kiss:Science:Read_Oil] Stopped
2019-07-30T19:22:59.260Z,1564514579.260 [esp_kiss:Science:H] Stopped
2019-07-30T19:22:59.260Z,1564514579.260 [esp_kiss:Science:G] Stopped
2019-07-30T19:22:59.260Z,1564514579.260 [esp_kiss:Science:F] Stopped
2019-07-30T19:22:59.260Z,1564514579.260 [esp_kiss:Science:E] Stopped
2019-07-30T19:22:59.260Z,1564514579.260 [esp_kiss:Science:D] Stopped
2019-07-30T19:22:59.260Z,1564514579.260 [esp_kiss:Science:C] Stopped
2019-07-30T19:22:59.260Z,1564514579.260 [esp_kiss:Science:B] Stopped
2019-07-30T19:22:59.260Z,1564514579.260 [esp_kiss:Science:A] Stopped
2019-07-30T19:22:59.260Z,1564514579.260 [esp_kiss:I] Running Loop=1
2019-07-30T19:22:59.260Z,1564514579.260 [esp_kiss:NeedComms] Running Loop=1
2019-07-30T19:22:59.260Z,1564514579.260 [esp_kiss:NeedComms](DEBUG): Aggregate::initialize esp_kiss:NeedComms
2019-07-30T19:22:59.260Z,1564514579.260 [esp_kiss:NeedComms:B.GoToSurface] Running Loop=1
2019-07-30T19:22:59.265Z,1564514579.265 [esp_kiss:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-07-30T19:22:59.265Z,1564514579.265 [esp_kiss:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2019-07-30T19:22:59.266Z,1564514579.266 [esp_kiss:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2019-07-30T19:22:59.266Z,1564514579.266 [esp_kiss:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2019-07-30T19:22:59.266Z,1564514579.266 [esp_kiss:NeedComms:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-07-30T19:22:59.267Z,1564514579.267 [esp_kiss:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-07-30T19:22:59.267Z,1564514579.267 [esp_kiss:NeedComms:A] Running Loop=1
2019-07-30T19:22:59.268Z,1564514579.268 [esp_kiss:NeedComms:A](ERROR): caught uninitialized data element exception.
2019-07-30T19:22:59.291Z,1564514579.291 [esp_kiss:NeedComms:A](INFO): last time_fix was: nan second since 1970/01/01T00:00:00Z 
2019-07-30T19:22:59.291Z,1564514579.291 [esp_kiss:NeedComms:A] Stopped
2019-07-30T19:22:59.292Z,1564514579.292 [esp_kiss:C] Stopped
2019-07-30T19:22:59.292Z,1564514579.292 [esp_kiss:D] Running Loop=1
2019-07-30T19:22:59.292Z,1564514579.292 [esp_kiss:StandardEnvelopes] Running Loop=1
2019-07-30T19:22:59.292Z,1564514579.292 [esp_kiss:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2019-07-30T19:22:59.292Z,1564514579.292 [esp_kiss:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2019-07-30T19:22:59.293Z,1564514579.293 [esp_kiss:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2019-07-30T19:22:59.294Z,1564514579.294 [esp_kiss:A.AbortSample] Running Loop=1
2019-07-30T19:22:59.652Z,1564514579.652 [esp_kiss:NeedComms:C] Running Loop=1
2019-07-30T19:22:59.652Z,1564514579.652 [esp_kiss:D] Stopped
2019-07-30T19:22:59.652Z,1564514579.652 [esp_kiss:E] Running Loop=1
2019-07-30T19:23:00.029Z,1564514580.029 [esp_kiss:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2019-07-30T19:23:00.030Z,1564514580.030 [esp_kiss:E] Stopped
2019-07-30T19:23:00.030Z,1564514580.030 [esp_kiss:G] Running Loop=1
2019-07-30T19:23:00.417Z,1564514580.417 [esp_kiss:G] Stopped
2019-07-30T19:23:00.417Z,1564514580.417 [esp_kiss:H] Running Loop=1
2019-07-30T19:23:00.820Z,1564514580.820 [esp_kiss:H] Stopped
2019-07-30T19:23:00.821Z,1564514580.821 [esp_kiss:StartingMission] Running Loop=1
2019-07-30T19:23:00.821Z,1564514580.821 [esp_kiss:StartingMission](DEBUG): Aggregate::initialize esp_kiss:StartingMission
2019-07-30T19:23:00.823Z,1564514580.823 [esp_kiss:StandardEnvelopes:A.AltitudeEnvelope](ERROR): Altitude Measurement is not Active.
2019-07-30T19:23:16.096Z,1564514596.096 [CommandLine](IMPORTANT): got command set NAL9602.time_fix 1564514560.000000 second
2019-07-30T19:23:26.648Z,1564514606.648 [NAL9602](INFO): Powering up NAL9602
2019-07-30T19:23:37.562Z,1564514617.562 [NAL9602](INFO): NAL9602 initialized
2019-07-30T19:23:38.377Z,1564514618.377 [NAL9602](DEBUG): Fix Requested
2019-07-30T19:23:44.579Z,1564514624.579 [CommandLine](IMPORTANT): got command set NAL9602.time_fix 1564514560.000000 second
2019-07-30T19:23:44.857Z,1564514624.857 [esp_kiss:NeedComms:C] Stopped
2019-07-30T19:23:44.858Z,1564514624.858 [esp_kiss:NeedComms:D] Running Loop=1
2019-07-30T19:23:45.262Z,1564514625.262 [esp_kiss:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2019-07-30T19:23:51.722Z,1564514631.722 [DataOverHttps](INFO): Sending 43 bytes from file Logs/20190730T190859/Courier0007.lzma
2019-07-30T19:23:52.526Z,1564514632.526 [DataOverHttps](INFO): Moved sent file to Logs/20190730T190859/Courier0007.lzma.bak
2019-07-30T19:23:52.526Z,1564514632.526 [DataOverHttps](INFO): SBD MOMSN=11483561
2019-07-30T19:24:06.296Z,1564514646.296 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-07-30T19:24:06.297Z,1564514646.297 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 1
2019-07-30T19:24:06.297Z,1564514646.297 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-07-30T19:24:06.320Z,1564514646.320 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-07-30T19:24:06.708Z,1564514646.708 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-07-30T19:24:06.708Z,1564514646.708 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 1
2019-07-30T19:24:08.797Z,1564514648.797 [DataOverHttps](INFO): Sending 385 bytes from file Logs/20190730T190859/Express0008.lzma
2019-07-30T19:24:09.602Z,1564514649.602 [DataOverHttps](INFO): Moved sent file to Logs/20190730T190859/Express0008.lzma.bak
2019-07-30T19:24:09.602Z,1564514649.602 [DataOverHttps](INFO): SBD MOMSN=11483563
2019-07-30T19:24:11.159Z,1564514651.159 [esp_kiss:NeedComms:D] Stopped
2019-07-30T19:24:11.159Z,1564514651.159 [esp_kiss:NeedComms:E] Running Loop=1
2019-07-30T19:24:11.536Z,1564514651.536 [esp_kiss:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2019-07-30T19:24:14.494Z,1564514654.494 [CommandLine](IMPORTANT): got command set NAL9602.time_fix 1564514688.000000 second
2019-07-30T19:24:14.753Z,1564514654.753 [esp_kiss:NeedComms:E] Stopped
2019-07-30T19:24:14.753Z,1564514654.753 [esp_kiss:NeedComms](INFO): Completed esp_kiss:NeedComms
2019-07-30T19:24:14.753Z,1564514654.753 [esp_kiss:NeedComms] Stopped
2019-07-30T19:24:14.754Z,1564514654.754 [esp_kiss:NeedComms](DEBUG): Aggregate::uninitialize esp_kiss:NeedComms
2019-07-30T19:24:14.754Z,1564514654.754 [esp_kiss:NeedComms:B.GoToSurface] Stopped
2019-07-30T19:24:14.754Z,1564514654.754 [esp_kiss:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-07-30T19:24:15.173Z,1564514655.173 [esp_kiss:StartingMission](INFO): Completed esp_kiss:StartingMission
2019-07-30T19:24:15.173Z,1564514655.173 [esp_kiss:StartingMission] Stopped
2019-07-30T19:24:15.173Z,1564514655.173 [esp_kiss:StartingMission](DEBUG): Aggregate::uninitialize esp_kiss:StartingMission
2019-07-30T19:24:15.173Z,1564514655.173 [esp_kiss:InitialDive] Running Loop=1
2019-07-30T19:24:15.173Z,1564514655.173 [esp_kiss:InitialDive](DEBUG): Aggregate::initialize esp_kiss:InitialDive
2019-07-30T19:24:15.173Z,1564514655.173 [esp_kiss:InitialDive:A] Running Loop=1
2019-07-30T19:24:15.173Z,1564514655.173 [esp_kiss:InitialDive:B] Running Loop=1
2019-07-30T19:24:15.173Z,1564514655.173 [esp_kiss:InitialDive:C.Pitch] Running Loop=1
2019-07-30T19:24:15.174Z,1564514655.174 [esp_kiss:InitialDive:C.Pitch](DEBUG): Initialize.
2019-07-30T19:24:15.174Z,1564514655.174 [esp_kiss:InitialDive:D.Point] Running Loop=1
2019-07-30T19:24:15.174Z,1564514655.174 [esp_kiss:InitialDive:D.Point](DEBUG): Initialize.
2019-07-30T19:24:15.174Z,1564514655.174 [esp_kiss:InitialDive:E.Buoyancy] Running Loop=1
2019-07-30T19:24:15.174Z,1564514655.174 [esp_kiss:InitialDive:E.Buoyancy](DEBUG): Initialize Buoyancy Component.
2019-07-30T19:24:15.174Z,1564514655.174 [esp_kiss:InitialDive:F] Running Loop=1
2019-07-30T19:24:15.575Z,1564514655.575 [esp_kiss:InitialDive:F](INFO): Waiting for 1.000000 min while pumping down to neutral.
2019-07-30T19:24:15.575Z,1564514655.575 [esp_kiss:InitialDive:F] Stopped
2019-07-30T19:24:15.576Z,1564514655.576 [esp_kiss:InitialDive:G.Wait] Running Loop=1
2019-07-30T19:24:15.576Z,1564514655.576 [esp_kiss:InitialDive:G.Wait](DEBUG): Initialize Wait Component.
2019-07-30T19:24:15.576Z,1564514655.576 [esp_kiss:InitialDive:E.Buoyancy] Running Loop=1
2019-07-30T19:24:15.576Z,1564514655.576 [esp_kiss:InitialDive:D.Point] Running Loop=1
2019-07-30T19:24:15.576Z,1564514655.576 [esp_kiss:InitialDive:C.Pitch] Running Loop=1
2019-07-30T19:24:15.581Z,1564514655.581 [esp_kiss:InitialDive:B] Running Loop=1
2019-07-30T19:24:15.581Z,1564514655.581 [esp_kiss:InitialDive:A] Running Loop=1
2019-07-30T19:25:16.172Z,1564514716.172 [esp_kiss:InitialDive:G.Wait](INFO): Done Waiting.
2019-07-30T19:25:16.172Z,1564514716.172 [esp_kiss:InitialDive:G.Wait] Stopped
2019-07-30T19:25:16.172Z,1564514716.172 [esp_kiss:InitialDive:G.Wait](DEBUG): Uninitialize Wait Component.
2019-07-30T19:25:16.172Z,1564514716.172 [esp_kiss:InitialDive:H] Running Loop=1
2019-07-30T19:25:16.568Z,1564514716.568 [esp_kiss:InitialDive:H](INFO): Moving to 2.000000 m 
2019-07-30T19:25:16.568Z,1564514716.568 [esp_kiss:InitialDive:H] Stopped
2019-07-30T19:25:16.568Z,1564514716.568 [esp_kiss:InitialDive:ApproachDepth] Running Loop=1
2019-07-30T19:25:16.568Z,1564514716.568 [esp_kiss:InitialDive:ApproachDepth](DEBUG): Aggregate::initialize esp_kiss:InitialDive:ApproachDepth
2019-07-30T19:25:16.568Z,1564514716.568 [esp_kiss:InitialDive:ApproachDepth:A.SetSpeed] Running Loop=1
2019-07-30T19:25:16.568Z,1564514716.568 [esp_kiss:InitialDive:ApproachDepth:A.SetSpeed](DEBUG): Initialize.
2019-07-30T19:25:16.568Z,1564514716.568 [esp_kiss:InitialDive:ApproachDepth:B.Pitch] Running Loop=1
2019-07-30T19:25:16.569Z,1564514716.569 [esp_kiss:InitialDive:ApproachDepth:B.Pitch](DEBUG): Initialize.
2019-07-30T19:25:16.968Z,1564514716.968 [esp_kiss:InitialDive:ApproachDepth:A.SetSpeed] Running Loop=1
2019-07-30T19:25:21.040Z,1564514721.040 [CommandLine](IMPORTANT): got command maintain sensor DepthRateCalculator.depth_rate 0.001000 meter_per_second
2019-07-30T19:25:21.041Z,1564514721.041 [ComponentRegistry](DEBUG): SyncComponent "Maintain_DepthRateCalculator.depth_rate" handled in the control thread.
2019-07-30T19:25:21.042Z,1564514721.042 [CommandLine](IMPORTANT): got command maintain sensor Depth_Keller.depth 2.000000 meter
2019-07-30T19:25:21.043Z,1564514721.043 [ComponentRegistry](DEBUG): SyncComponent "Maintain_Depth_Keller.depth" handled in the control thread.
2019-07-30T19:25:21.071Z,1564514721.071 [controlThread](DEBUG): Component order: CycleStarter,Depth_Keller,NAL9602,Onboard,BPC1,ESPComponent,PAR_Licor,Depth_Keller,PAR_Licor,Maintain_NAL9602.latitude_fix,Maintain_NAL9602.longitude_fix,Maintain_DepthRateCalculator.depth_rate,Maintain_Depth_Keller.depth,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,LogSplitter,
2019-07-30T19:25:21.429Z,1564514721.429 [esp_kiss:InitialDive:ApproachDepth:B.Pitch] Stopped
2019-07-30T19:25:21.430Z,1564514721.430 [esp_kiss:InitialDive:ApproachDepth](INFO): Completed esp_kiss:InitialDive:ApproachDepth
2019-07-30T19:25:21.430Z,1564514721.430 [esp_kiss:InitialDive:ApproachDepth] Stopped
2019-07-30T19:25:21.430Z,1564514721.430 [esp_kiss:InitialDive:ApproachDepth](DEBUG): Aggregate::uninitialize esp_kiss:InitialDive:ApproachDepth
2019-07-30T19:25:21.430Z,1564514721.430 [esp_kiss:InitialDive:ApproachDepth:A.SetSpeed] Stopped
2019-07-30T19:25:21.430Z,1564514721.430 [esp_kiss:InitialDive:ApproachDepth:A.SetSpeed](DEBUG): Uninitialize.
2019-07-30T19:25:21.431Z,1564514721.431 [esp_kiss:InitialDive](INFO): Completed esp_kiss:InitialDive
2019-07-30T19:25:21.431Z,1564514721.431 [esp_kiss:InitialDive] Stopped
2019-07-30T19:25:21.431Z,1564514721.431 [esp_kiss:InitialDive](DEBUG): Aggregate::uninitialize esp_kiss:InitialDive
2019-07-30T19:25:21.431Z,1564514721.431 [esp_kiss:InitialDive:A] Stopped
2019-07-30T19:25:21.431Z,1564514721.431 [esp_kiss:InitialDive:B] Stopped
2019-07-30T19:25:21.431Z,1564514721.431 [esp_kiss:InitialDive:C.Pitch] Stopped
2019-07-30T19:25:21.431Z,1564514721.431 [esp_kiss:InitialDive:D.Point] Stopped
2019-07-30T19:25:21.432Z,1564514721.432 [esp_kiss:InitialDive:E.Buoyancy] Stopped
2019-07-30T19:25:21.432Z,1564514721.432 [esp_kiss:InitialDive:E.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2019-07-30T19:25:21.432Z,1564514721.432 [esp_kiss:SettleAtDepth] Running Loop=1
2019-07-30T19:25:21.432Z,1564514721.432 [esp_kiss:SettleAtDepth](DEBUG): Aggregate::initialize esp_kiss:SettleAtDepth
2019-07-30T19:25:21.432Z,1564514721.432 [esp_kiss:SettleAtDepth:B.Pitch] Running Loop=1
2019-07-30T19:25:21.432Z,1564514721.432 [esp_kiss:SettleAtDepth:B.Pitch](DEBUG): Initialize.
2019-07-30T19:25:21.432Z,1564514721.432 [esp_kiss:SettleAtDepth:A] Running Loop=1
2019-07-30T19:25:21.812Z,1564514721.812 [esp_kiss:SettleAtDepth:B.Pitch] Running Loop=1
2019-07-30T19:25:21.817Z,1564514721.817 [esp_kiss:SettleAtDepth:A](INFO): Reached 2.000000 m , settling for 3.000000 min 
2019-07-30T19:25:21.817Z,1564514721.817 [esp_kiss:SettleAtDepth:A] Stopped
2019-07-30T19:25:21.818Z,1564514721.818 [esp_kiss:SettleAtDepth:C.Wait] Running Loop=1
2019-07-30T19:25:21.818Z,1564514721.818 [esp_kiss:SettleAtDepth:C.Wait](DEBUG): Initialize Wait Component.
2019-07-30T19:25:29.335Z,1564514729.335 [CommandLine](IMPORTANT): got command maintain sensor Depth_Keller.depth 3.000000 meter
2019-07-30T19:26:07.477Z,1564514767.477 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-07-30T19:26:07.477Z,1564514767.477 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 1
2019-07-30T19:26:07.477Z,1564514767.477 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-07-30T19:26:07.578Z,1564514767.578 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-07-30T19:26:07.962Z,1564514767.962 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-07-30T19:26:07.962Z,1564514767.962 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 1
2019-07-30T19:26:21.945Z,1564514781.945 [Radio_Surface](INFO): Powering down
2019-07-30T19:26:52.113Z,1564514812.113 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2019-07-30T19:28:08.669Z,1564514888.669 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-07-30T19:28:08.669Z,1564514888.669 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 2
2019-07-30T19:28:08.669Z,1564514888.669 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-07-30T19:28:08.682Z,1564514888.682 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-07-30T19:28:09.093Z,1564514889.093 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-07-30T19:28:09.094Z,1564514889.094 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 2
2019-07-30T19:28:22.397Z,1564514902.397 [esp_kiss:SettleAtDepth:C.Wait](INFO): Done Waiting.
2019-07-30T19:28:22.398Z,1564514902.398 [esp_kiss:SettleAtDepth:C.Wait] Stopped
2019-07-30T19:28:22.398Z,1564514902.398 [esp_kiss:SettleAtDepth:C.Wait](DEBUG): Uninitialize Wait Component.
2019-07-30T19:28:22.398Z,1564514902.398 [esp_kiss:SettleAtDepth](INFO): Completed esp_kiss:SettleAtDepth
2019-07-30T19:28:22.399Z,1564514902.399 [esp_kiss:SettleAtDepth] Stopped
2019-07-30T19:28:22.399Z,1564514902.399 [esp_kiss:SettleAtDepth](DEBUG): Aggregate::uninitialize esp_kiss:SettleAtDepth
2019-07-30T19:28:22.399Z,1564514902.399 [esp_kiss:SettleAtDepth:B.Pitch] Stopped
2019-07-30T19:28:22.399Z,1564514902.399 [esp_kiss:SampleAtTargetDepth] Running Loop=1
2019-07-30T19:28:22.399Z,1564514902.399 [esp_kiss:SampleAtTargetDepth](DEBUG): Aggregate::initialize esp_kiss:SampleAtTargetDepth
2019-07-30T19:28:22.399Z,1564514902.399 [esp_kiss:SampleAtTargetDepth:A.SetSpeed] Running Loop=1
2019-07-30T19:28:22.399Z,1564514902.399 [esp_kiss:SampleAtTargetDepth:A.SetSpeed](DEBUG): Initialize.
2019-07-30T19:28:22.399Z,1564514902.399 [esp_kiss:SampleAtTargetDepth:B.Pitch] Running Loop=1
2019-07-30T19:28:22.399Z,1564514902.399 [esp_kiss:SampleAtTargetDepth:B.Pitch](DEBUG): Initialize.
2019-07-30T19:28:22.400Z,1564514902.400 [esp_kiss:SampleAtTargetDepth:Spinout] Running Loop=1
2019-07-30T19:28:22.400Z,1564514902.400 [esp_kiss:SampleAtTargetDepth:Spinout](DEBUG): Aggregate::initialize esp_kiss:SampleAtTargetDepth:Spinout
2019-07-30T19:28:22.400Z,1564514902.400 [esp_kiss:SampleAtTargetDepth:Spinout:HoldMassPosition.Pitch] Running Loop=1
2019-07-30T19:28:22.400Z,1564514902.400 [esp_kiss:SampleAtTargetDepth:Spinout:HoldMassPosition.Pitch](DEBUG): Initialize.
2019-07-30T19:28:22.400Z,1564514902.400 [esp_kiss:SampleAtTargetDepth:Spinout:HoldBuoyancyPosition.Buoyancy] Running Loop=1
2019-07-30T19:28:22.400Z,1564514902.400 [esp_kiss:SampleAtTargetDepth:Spinout:HoldBuoyancyPosition.Buoyancy](DEBUG): Initialize Buoyancy Component.
2019-07-30T19:28:22.400Z,1564514902.400 [esp_kiss:SampleAtTargetDepth:Spinout:HoldRudderAngle.Point] Running Loop=1
2019-07-30T19:28:22.400Z,1564514902.400 [esp_kiss:SampleAtTargetDepth:Spinout:HoldRudderAngle.Point](DEBUG): Initialize.
2019-07-30T19:28:22.400Z,1564514902.400 [esp_kiss:SampleAtTargetDepth:GrabSamples] Running Loop=1
2019-07-30T19:28:22.400Z,1564514902.400 [esp_kiss:SampleAtTargetDepth:GrabSamples](DEBUG): Aggregate::initialize esp_kiss:SampleAtTargetDepth:GrabSamples
2019-07-30T19:28:22.401Z,1564514902.401 [esp_kiss:SampleAtTargetDepth:GrabSamples:Sample1] Running Loop=1
2019-07-30T19:28:22.401Z,1564514902.401 [esp_kiss:SampleAtTargetDepth:GrabSamples:Sample1](DEBUG): Aggregate::initialize esp_kiss:SampleAtTargetDepth:GrabSamples:Sample1
2019-07-30T19:28:22.401Z,1564514902.401 [esp_kiss:SampleAtTargetDepth:GrabSamples:Sample1:A] Running Loop=1
2019-07-30T19:28:22.808Z,1564514902.808 [esp_kiss:SampleAtTargetDepth:GrabSamples:Sample1:A] Stopped
2019-07-30T19:28:22.808Z,1564514902.808 [esp_kiss:SampleAtTargetDepth:GrabSamples:Sample1:B] Running Loop=1
2019-07-30T19:28:22.808Z,1564514902.808 [esp_kiss:SampleAtTargetDepth:GrabSamples:Sample1:B](DEBUG): Aggregate::initialize esp_kiss:SampleAtTargetDepth:GrabSamples:Sample1:B
2019-07-30T19:28:22.808Z,1564514902.808 [esp_kiss:SampleAtTargetDepth:Spinout] Stopped
2019-07-30T19:28:22.809Z,1564514902.809 [esp_kiss:SampleAtTargetDepth:Spinout](DEBUG): Aggregate::uninitialize esp_kiss:SampleAtTargetDepth:Spinout
2019-07-30T19:28:22.809Z,1564514902.809 [esp_kiss:SampleAtTargetDepth:Spinout:HoldMassPosition.Pitch] Stopped
2019-07-30T19:28:22.809Z,1564514902.809 [esp_kiss:SampleAtTargetDepth:Spinout:HoldBuoyancyPosition.Buoyancy] Stopped
2019-07-30T19:28:22.809Z,1564514902.809 [esp_kiss:SampleAtTargetDepth:Spinout:HoldBuoyancyPosition.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2019-07-30T19:28:22.809Z,1564514902.809 [esp_kiss:SampleAtTargetDepth:Spinout:HoldRudderAngle.Point] Stopped
2019-07-30T19:28:22.809Z,1564514902.809 [esp_kiss:SampleAtTargetDepth:B.Pitch] Running Loop=1
2019-07-30T19:28:22.809Z,1564514902.809 [esp_kiss:SampleAtTargetDepth:A.SetSpeed] Running Loop=1
2019-07-30T19:28:23.214Z,1564514903.214 [esp_kiss:SampleESP] Running Loop=1
2019-07-30T19:28:23.214Z,1564514903.214 [esp_kiss:SampleESP](DEBUG): Aggregate::initialize esp_kiss:SampleESP
2019-07-30T19:28:23.214Z,1564514903.214 [esp_kiss:SampleESP:sample] Running Loop=1
2019-07-30T19:28:23.214Z,1564514903.214 [esp_kiss:SampleESP:sample](DEBUG): Aggregate::initialize esp_kiss:SampleESP:sample
2019-07-30T19:28:23.214Z,1564514903.214 [esp_kiss:SampleESP:sample:A] Running Loop=1
2019-07-30T19:28:23.215Z,1564514903.215 [esp_kiss:SampleESP:sample:A](IMPORTANT): At 3.000000 m , settling for 3.000000 min 
2019-07-30T19:28:23.215Z,1564514903.215 [esp_kiss:SampleESP:sample:A] Stopped
2019-07-30T19:28:23.215Z,1564514903.215 [esp_kiss:SampleESP:sample:B.Wait] Running Loop=1
2019-07-30T19:28:23.215Z,1564514903.215 [esp_kiss:SampleESP:sample:B.Wait](DEBUG): Initialize Wait Component.
2019-07-30T19:28:40.962Z,1564514920.962 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2019-07-30T19:28:58.161Z,1564514938.161 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.307541
2019-07-30T19:28:58.535Z,1564514938.535 [CommandLine](IMPORTANT): got command show stack
2019-07-30T19:28:58.535Z,1564514938.535 [CommandLine](IMPORTANT): Behavior Stack:

2019-07-30T19:28:58.536Z,1564514938.536 [esp_kiss](IMPORTANT): Priority 0: esp_kiss:A.AbortSample
2019-07-30T19:28:58.536Z,1564514938.536 [esp_kiss:StandardEnvelopes](IMPORTANT): Priority 1: esp_kiss:StandardEnvelopes:A.AltitudeEnvelope
2019-07-30T19:28:58.536Z,1564514938.536 [esp_kiss:StandardEnvelopes](IMPORTANT): Priority 2: esp_kiss:StandardEnvelopes:B.DepthEnvelope
2019-07-30T19:28:58.550Z,1564514938.550 [esp_kiss:StandardEnvelopes](IMPORTANT): Priority 3: esp_kiss:StandardEnvelopes:C.OffshoreEnvelope
2019-07-30T19:28:58.550Z,1564514938.550 [esp_kiss](IMPORTANT): Priority 4: esp_kiss:I
2019-07-30T19:28:58.550Z,1564514938.550 [esp_kiss:SampleESP:sample](IMPORTANT): Priority 5: esp_kiss:SampleESP:sample:B.Wait
2019-07-30T19:28:58.551Z,1564514938.551 [esp_kiss:SampleAtTargetDepth](IMPORTANT): Priority 6: esp_kiss:SampleAtTargetDepth:A.SetSpeed
2019-07-30T19:28:58.552Z,1564514938.552 [esp_kiss:SampleAtTargetDepth](IMPORTANT): Priority 7: esp_kiss:SampleAtTargetDepth:B.Pitch
2019-07-30T19:29:11.662Z,1564514951.662 [NAL9602](INFO): Not Powering down - fast GPS
2019-07-30T19:30:09.858Z,1564515009.858 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-07-30T19:30:09.858Z,1564515009.858 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 3
2019-07-30T19:30:09.858Z,1564515009.858 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-07-30T19:30:09.872Z,1564515009.872 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-07-30T19:30:10.277Z,1564515010.277 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-07-30T19:30:10.277Z,1564515010.277 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 3
2019-07-30T19:30:17.429Z,1564515017.429 [CommandLine](IMPORTANT): got command stop
2019-07-30T19:30:17.430Z,1564515017.430 [CommandLine](IMPORTANT): Scheduling is paused
2019-07-30T19:30:17.430Z,1564515017.430 [Supervisor](INFO): Stop Mission called by CommandLine::commandStop
2019-07-30T19:30:17.570Z,1564515017.570 [MissionManager](INFO): MissionManager is completed.
2019-07-30T19:30:17.570Z,1564515017.570 [MissionManager](INFO): Uninitializing Mission esp_kiss
2019-07-30T19:30:17.570Z,1564515017.570 [esp_kiss] Stopped
2019-07-30T19:30:17.570Z,1564515017.570 [esp_kiss](DEBUG): Aggregate::uninitialize esp_kiss
2019-07-30T19:30:17.570Z,1564515017.570 [esp_kiss:A.AbortSample] Stopped
2019-07-30T19:30:17.570Z,1564515017.570 [esp_kiss:A.AbortSample](INFO): Uninitializing AbortSample.
2019-07-30T19:30:17.570Z,1564515017.570 [esp_kiss:StandardEnvelopes] Stopped
2019-07-30T19:30:17.571Z,1564515017.571 [esp_kiss:StandardEnvelopes](DEBUG): Aggregate::uninitialize esp_kiss:StandardEnvelopes
2019-07-30T19:30:17.571Z,1564515017.571 [esp_kiss:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2019-07-30T19:30:17.571Z,1564515017.571 [esp_kiss:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2019-07-30T19:30:17.571Z,1564515017.571 [esp_kiss:StandardEnvelopes:B.DepthEnvelope] Stopped
2019-07-30T19:30:17.571Z,1564515017.571 [esp_kiss:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2019-07-30T19:30:17.571Z,1564515017.571 [esp_kiss:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2019-07-30T19:30:17.571Z,1564515017.571 [esp_kiss:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2019-07-30T19:30:17.571Z,1564515017.571 [esp_kiss:I] Stopped
2019-07-30T19:30:17.571Z,1564515017.571 [esp_kiss:SampleESP] Stopped
2019-07-30T19:30:17.571Z,1564515017.571 [esp_kiss:SampleESP](DEBUG): Aggregate::uninitialize esp_kiss:SampleESP
2019-07-30T19:30:17.571Z,1564515017.571 [esp_kiss:SampleESP:sample] Stopped
2019-07-30T19:30:17.571Z,1564515017.571 [esp_kiss:SampleESP:sample](DEBUG): Aggregate::uninitialize esp_kiss:SampleESP:sample
2019-07-30T19:30:17.571Z,1564515017.571 [esp_kiss:SampleESP:sample:B.Wait] Stopped
2019-07-30T19:30:17.572Z,1564515017.572 [esp_kiss:SampleESP:sample:B.Wait](DEBUG): Uninitialize Wait Component.
2019-07-30T19:30:17.572Z,1564515017.572 [esp_kiss:Science] Stopped
2019-07-30T19:30:17.572Z,1564515017.572 [esp_kiss:Science](DEBUG): Aggregate::uninitialize esp_kiss:Science
2019-07-30T19:30:17.572Z,1564515017.572 [esp_kiss:SampleAtTargetDepth] Stopped
2019-07-30T19:30:17.572Z,1564515017.572 [esp_kiss:SampleAtTargetDepth](DEBUG): Aggregate::uninitialize esp_kiss:SampleAtTargetDepth
2019-07-30T19:30:17.572Z,1564515017.572 [esp_kiss:SampleAtTargetDepth:A.SetSpeed] Stopped
2019-07-30T19:30:17.572Z,1564515017.572 [esp_kiss:SampleAtTargetDepth:A.SetSpeed](DEBUG): Uninitialize.
2019-07-30T19:30:17.572Z,1564515017.572 [esp_kiss:SampleAtTargetDepth:B.Pitch] Stopped
2019-07-30T19:30:17.572Z,1564515017.572 [esp_kiss:SampleAtTargetDepth:GrabSamples] Stopped
2019-07-30T19:30:17.572Z,1564515017.572 [esp_kiss:SampleAtTargetDepth:GrabSamples](DEBUG): Aggregate::uninitialize esp_kiss:SampleAtTargetDepth:GrabSamples
2019-07-30T19:30:17.572Z,1564515017.572 [esp_kiss:SampleAtTargetDepth:GrabSamples:Sample1] Stopped
2019-07-30T19:30:17.572Z,1564515017.572 [esp_kiss:SampleAtTargetDepth:GrabSamples:Sample1](DEBUG): Aggregate::uninitialize esp_kiss:SampleAtTargetDepth:GrabSamples:Sample1
2019-07-30T19:30:17.573Z,1564515017.573 [esp_kiss:SampleAtTargetDepth:GrabSamples:Sample1:B] Stopped
2019-07-30T19:30:17.573Z,1564515017.573 [esp_kiss:SampleAtTargetDepth:GrabSamples:Sample1:B](DEBUG): Aggregate::uninitialize esp_kiss:SampleAtTargetDepth:GrabSamples:Sample1:B
2019-07-30T19:30:17.955Z,1564515017.955 [MissionManager](IMPORTANT): Started mission Default
2019-07-30T19:30:17.955Z,1564515017.955 [Default] Running Loop=1
2019-07-30T19:30:17.955Z,1564515017.955 [Default](DEBUG): Aggregate::initialize Default
2019-07-30T19:30:17.955Z,1564515017.955 [Default:B.GoToSurface] Running Loop=1
2019-07-30T19:30:17.955Z,1564515017.955 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-07-30T19:30:17.955Z,1564515017.955 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2019-07-30T19:30:17.956Z,1564515017.956 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2019-07-30T19:30:17.956Z,1564515017.956 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2019-07-30T19:30:17.956Z,1564515017.956 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-07-30T19:30:17.957Z,1564515017.957 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-07-30T19:30:17.957Z,1564515017.957 [Default:A.Wait] Running Loop=1
2019-07-30T19:30:17.957Z,1564515017.957 [Default:A.Wait](DEBUG): Initialize Wait Component.
2019-07-30T19:30:18.689Z,1564515018.689 [Radio_Surface](INFO): Powering up
2019-07-30T19:30:21.611Z,1564515021.611 [CommandLine](IMPORTANT): got command maintain clear
2019-07-30T19:30:21.729Z,1564515021.729 [controlThread](DEBUG): Component order: CycleStarter,Depth_Keller,NAL9602,Onboard,BPC1,ESPComponent,PAR_Licor,Depth_Keller,PAR_Licor,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,LogSplitter,
2019-07-30T19:30:24.213Z,1564515024.213 [DataOverHttps](INFO): Radio surface powered ON.
2019-07-30T19:30:31.323Z,1564515031.323 [Default:A.Wait](INFO): Done Waiting.
2019-07-30T19:30:31.323Z,1564515031.323 [Default:A.Wait] Stopped
2019-07-30T19:30:31.323Z,1564515031.323 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2019-07-30T19:30:31.727Z,1564515031.727 [Default:CheckIn] Running Loop=1
2019-07-30T19:30:31.727Z,1564515031.727 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-07-30T19:30:31.727Z,1564515031.727 [Default:CheckIn:Read_GPS] Running Loop=1
2019-07-30T19:30:33.333Z,1564515033.333 [NAL9602](DEBUG): Fix Requested
2019-07-30T19:30:54.513Z,1564515054.513 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2019-07-30T19:31:25.217Z,1564515085.217 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2019-07-30T19:31:55.921Z,1564515115.921 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2019-07-30T19:32:10.721Z,1564515130.721 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-07-30T19:32:10.721Z,1564515130.721 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 4
2019-07-30T19:32:10.721Z,1564515130.721 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-07-30T19:32:10.757Z,1564515130.757 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-07-30T19:32:11.149Z,1564515131.149 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-07-30T19:32:11.149Z,1564515131.149 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 4
2019-07-30T19:32:26.625Z,1564515146.625 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2019-07-30T19:32:42.460Z,1564515162.460 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003332
2019-07-30T19:34:11.917Z,1564515251.917 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-07-30T19:34:11.917Z,1564515251.917 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 5
2019-07-30T19:34:11.917Z,1564515251.917 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-07-30T19:34:11.928Z,1564515251.928 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-07-30T19:34:12.329Z,1564515252.329 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-07-30T19:34:12.329Z,1564515252.329 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 5
2019-07-30T19:34:50.363Z,1564515290.363 [CommandLine](IMPORTANT): got command run ./Missions/Science/esp_kiss.xml
2019-07-30T19:34:50.364Z,1564515290.364 [MissionManager](INFO): Loading Mission: ./Missions/Science/esp_kiss.xml
2019-07-30T19:34:50.529Z,1564515290.529 [MissionManager](INFO): DefineArg esp_kiss.MissionTimeout = 4.000000 h
2019-07-30T19:34:50.532Z,1564515290.532 [MissionManager](INFO): DefineArg esp_kiss.TargetDepth = 3.000000 m
2019-07-30T19:34:50.534Z,1564515290.534 [MissionManager](INFO): DefineArg esp_kiss.ESPCartridgeType_1 = -4.000000 count
2019-07-30T19:34:50.536Z,1564515290.536 [MissionManager](INFO): DefineArg esp_kiss.ESPCartridgeType_2 = -9.000000 count
2019-07-30T19:34:50.538Z,1564515290.538 [MissionManager](INFO): DefineArg esp_kiss.ESPCartridgeType_3 = nan count
2019-07-30T19:34:50.540Z,1564515290.540 [MissionManager](INFO): DefineArg esp_kiss.ESPCartridgeType_4 = nan count
2019-07-30T19:34:50.543Z,1564515290.543 [MissionManager](INFO): DefineArg esp_kiss.SettleTime = 3.000000 min
2019-07-30T19:34:50.545Z,1564515290.545 [MissionManager](INFO): DefineArg esp_kiss.Speed = 0.000000 m/s
2019-07-30T19:34:50.547Z,1564515290.547 [MissionManager](INFO): DefineArg esp_kiss.ApproachDepth = 2.000000 m
2019-07-30T19:34:50.549Z,1564515290.549 [MissionManager](INFO): DefineArg esp_kiss.ApproachSpeed = 0.700000 m/s
2019-07-30T19:34:50.552Z,1564515290.552 [MissionManager](INFO): DefineArg esp_kiss.ApproachDepthRate = 0.050000 m/s
2019-07-30T19:34:50.554Z,1564515290.554 [MissionManager](INFO): DefineArg esp_kiss.ApproachPitchLimit = 10.000000 arcdeg
2019-07-30T19:34:50.556Z,1564515290.556 [MissionManager](INFO): DefineArg esp_kiss.ApproachSettleTimePreDive = 0.200000 min
2019-07-30T19:34:50.559Z,1564515290.559 [MissionManager](INFO): DefineArg esp_kiss.ApproachSettleTimePostDive = 0.200000 min
2019-07-30T19:34:50.561Z,1564515290.561 [MissionManager](INFO): DefineArg esp_kiss.ApproachDepthTimeout = 15.000000 min
2019-07-30T19:34:50.563Z,1564515290.563 [MissionManager](INFO): DefineArg esp_kiss.kpDepth = 0.070000 rad/m
2019-07-30T19:34:50.566Z,1564515290.566 [MissionManager](INFO): DefineArg esp_kiss.DepthDeadband = 0.010000 m
2019-07-30T19:34:50.568Z,1564515290.568 [MissionManager](INFO): DefineArg esp_kiss.MinAltitude = 2.000000 m
2019-07-30T19:34:50.613Z,1564515290.613 [MissionManager](INFO): DefineArg esp_kiss.MaxDepth = 5.000000 m
2019-07-30T19:34:50.616Z,1564515290.616 [MissionManager](INFO): DefineArg esp_kiss.MinOffshore = 1.000000 km
2019-07-30T19:34:50.618Z,1564515290.618 [MissionManager](INFO): DefineOutput esp_kiss.ESPCartridgeType = nan count
2019-07-30T19:34:50.619Z,1564515290.619 [esp_kiss:A.AbortSample](DEBUG): Construct.
2019-07-30T19:34:50.620Z,1564515290.620 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml
2019-07-30T19:34:50.661Z,1564515290.661 [MissionManager](INFO): DefineArg esp_kiss:StandardEnvelopes.MinAltitude = 5.000000 m
2019-07-30T19:34:50.664Z,1564515290.664 [MissionManager](INFO): DefineArg esp_kiss:StandardEnvelopes.MaxDepth = 200.000000 m
2019-07-30T19:34:50.718Z,1564515290.718 [MissionManager](INFO): DefineArg esp_kiss:StandardEnvelopes.MinOffshore = 2000.000000 m
2019-07-30T19:34:50.719Z,1564515290.719 [esp_kiss:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2019-07-30T19:34:50.740Z,1564515290.740 [esp_kiss:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2019-07-30T19:34:50.762Z,1564515290.762 [esp_kiss:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2019-07-30T19:34:50.780Z,1564515290.780 [MissionManager](INFO): Inserting Stack: Missions/Insert/NeedComms.xml
2019-07-30T19:34:50.872Z,1564515290.872 [MissionManager](INFO): DefineArg esp_kiss:NeedComms.DiveInterval = 3.000000 h
2019-07-30T19:34:50.890Z,1564515290.890 [MissionManager](INFO): DefineArg esp_kiss:NeedComms.WaitForPitchUp = 10.000000 min
2019-07-30T19:34:50.892Z,1564515290.892 [MissionManager](INFO): DefineArg esp_kiss:NeedComms.SurfacePitch = 20.000000 arcdeg
2019-07-30T19:34:50.894Z,1564515290.894 [MissionManager](INFO): DefineArg esp_kiss:NeedComms.SurfaceDepthRate = nan m/s
2019-07-30T19:34:50.896Z,1564515290.896 [MissionManager](INFO): DefineArg esp_kiss:NeedComms.SurfaceSpeed = 1.000000 m/s
2019-07-30T19:34:50.899Z,1564515290.899 [MissionManager](INFO): DefineArg esp_kiss:NeedComms.GPSTimeout = 7.000000 min
2019-07-30T19:34:50.907Z,1564515290.907 [MissionManager](INFO): DefineArg esp_kiss:NeedComms.CommsTimeout = 30.000000 min
2019-07-30T19:34:50.913Z,1564515290.913 [esp_kiss:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2019-07-30T19:34:50.964Z,1564515290.964 [esp_kiss:SampleESP:sample:B.Wait](DEBUG): Construct Wait.
2019-07-30T19:34:50.976Z,1564515290.976 [MissionManager](ERROR): Slate does not contain CTD_NeilBrown.bin_mean_sea_water_temperature
2019-07-30T19:34:50.976Z,1564515290.976 [MissionManager](ERROR): Slate does not contain celsius
2019-07-30T19:34:50.997Z,1564515290.997 [MissionManager](ERROR): Slate does not contain WetLabsBB2FL.bin_mean_mass_concentration_of_chlorophyll_in_sea_water
2019-07-30T19:34:50.997Z,1564515290.997 [MissionManager](ERROR): Slate does not contain microgram_per_liter
2019-07-30T19:34:50.999Z,1564515290.999 [MissionManager](INFO): Inserting Stack: Missions/Insert/Science.xml
2019-07-30T19:34:51.286Z,1564515291.286 [MissionManager](INFO): DefineArg esp_kiss:Science.SampleISUS = 0 bool
2019-07-30T19:34:51.288Z,1564515291.288 [MissionManager](INFO): DefineArg esp_kiss:Science.SampleISUSmaxPitch = 60.000000 arcdeg
2019-07-30T19:34:51.291Z,1564515291.291 [MissionManager](INFO): DefineArg esp_kiss:Science.SampleISUSminPitch = -60.000000 arcdeg
2019-07-30T19:34:51.292Z,1564515291.292 [MissionManager](INFO): DefineArg esp_kiss:Science.PeakDetectChlActive = 0 bool
2019-07-30T19:34:51.295Z,1564515291.295 [MissionManager](INFO): DefineArg esp_kiss:Science.TimeWindowPeakReport = nan min
2019-07-30T19:34:51.296Z,1564515291.296 [MissionManager](INFO): DefineArg esp_kiss:Science.HighestChlPeakReportActive = 0 bool
2019-07-30T19:34:51.298Z,1564515291.298 [MissionManager](INFO): DefineArg esp_kiss:Science.PatchTracking = 0 bool
2019-07-30T19:34:51.300Z,1564515291.300 [MissionManager](INFO): DefineArg esp_kiss:Science.FilterWidthHorizontal = 3.000000 count
2019-07-30T19:34:51.303Z,1564515291.303 [MissionManager](INFO): DefineArg esp_kiss:Science.NumProfilesSlidingwindow = 100.000000 count
2019-07-30T19:34:51.305Z,1564515291.305 [MissionManager](INFO): DefineArg esp_kiss:Science.OffPeakFractionHorizontal = 80.000000 %
2019-07-30T19:34:51.307Z,1564515291.307 [MissionManager](INFO): DefineArg esp_kiss:Science.PeakDetectNO3Active = 0 bool
2019-07-30T19:34:51.309Z,1564515291.309 [MissionManager](INFO): DefineArg esp_kiss:Science.PeakDetectOilActive = 0 bool
2019-07-30T19:34:51.311Z,1564515291.311 [MissionManager](INFO): DefineArg esp_kiss:Science.PeakDetectFDOMActive = 0 bool
2019-07-30T19:34:51.313Z,1564515291.313 [MissionManager](INFO): DefineArg esp_kiss:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2019-07-30T19:34:51.315Z,1564515291.315 [MissionManager](INFO): DefineArg esp_kiss:Science.EnabledAanderaaO2 = 0.000000 bool
2019-07-30T19:34:51.318Z,1564515291.318 [MissionManager](INFO): DefineArg esp_kiss:Science.EnabledNeilBrown = 0.000000 bool
2019-07-30T19:34:51.320Z,1564515291.320 [MissionManager](INFO): DefineArg esp_kiss:Science.EnabledSeabird = 0.000000 bool
2019-07-30T19:34:51.324Z,1564515291.324 [MissionManager](INFO): DefineArg esp_kiss:Science.EnabledTurbulence_NPS = 0.000000 bool
2019-07-30T19:34:51.327Z,1564515291.327 [MissionManager](INFO): DefineArg esp_kiss:Science.EnabledWetLabsBB2FL = 0.000000 bool
2019-07-30T19:34:51.329Z,1564515291.329 [MissionManager](INFO): DefineArg esp_kiss:Science.EnabledWetLabsSeaOWL_UV_A = 0.000000 bool
2019-07-30T19:34:51.332Z,1564515291.332 [MissionManager](INFO): DefineArg esp_kiss:Science.EnabledWetLabsUBAT = 0.000000 bool
2019-07-30T19:34:51.335Z,1564515291.335 [MissionManager](INFO): DefineArg esp_kiss:Science.EnabledISUS = 0.000000 bool
2019-07-30T19:34:51.338Z,1564515291.338 [MissionManager](INFO): DefineArg esp_kiss:Science.LowPassWindowLength = 20.000000 count
2019-07-30T19:34:51.340Z,1564515291.340 [MissionManager](INFO): DefineArg esp_kiss:Science.MedianFilterLen = 5.000000 count
2019-07-30T19:34:51.342Z,1564515291.342 [MissionManager](INFO): DefineArg esp_kiss:Science.PeakChlShallowBound = nan m
2019-07-30T19:34:51.344Z,1564515291.344 [MissionManager](INFO): DefineArg esp_kiss:Science.PeakChlDeepBound = nan m
2019-07-30T19:34:51.347Z,1564515291.347 [MissionManager](INFO): DefineArg esp_kiss:Science.PeakShallowBound = nan m
2019-07-30T19:34:51.348Z,1564515291.348 [MissionManager](INFO): DefineArg esp_kiss:Science.PeakDeepBound = nan m
2019-07-30T19:34:51.351Z,1564515291.351 [MissionManager](INFO): DefineOutput esp_kiss:Science.PeakChl = 0.000000 ug/l
2019-07-30T19:34:51.353Z,1564515291.353 [MissionManager](INFO): DefineOutput esp_kiss:Science.PeakChlDepth = 0.000000 m
2019-07-30T19:34:51.355Z,1564515291.355 [MissionManager](INFO): DefineOutput esp_kiss:Science.PeakChlTemperature = 0.000000 degC
2019-07-30T19:34:51.357Z,1564515291.357 [MissionManager](INFO): DefineOutput esp_kiss:Science.PeakChlLatitude = nan arcdeg
2019-07-30T19:34:51.359Z,1564515291.359 [MissionManager](INFO): DefineOutput esp_kiss:Science.PeakChlLongitude = nan arcdeg
2019-07-30T19:34:51.362Z,1564515291.362 [MissionManager](INFO): DefineOutput esp_kiss:Science.PeakNO3 = 0.000000 umol/l
2019-07-30T19:34:51.364Z,1564515291.364 [MissionManager](INFO): DefineOutput esp_kiss:Science.PeakNO3Depth = 0.000000 m
2019-07-30T19:34:51.366Z,1564515291.366 [MissionManager](INFO): DefineOutput esp_kiss:Science.PeakNO3Latitude = nan arcdeg
2019-07-30T19:34:51.368Z,1564515291.368 [MissionManager](INFO): DefineOutput esp_kiss:Science.PeakNO3Longitude = nan arcdeg
2019-07-30T19:34:51.371Z,1564515291.371 [MissionManager](INFO): DefineOutput esp_kiss:Science.PatchChl = 0.000000 m
2019-07-30T19:34:51.406Z,1564515291.406 [MissionManager](INFO): DefineOutput esp_kiss:Science.PatchChlDepth = 0.000000 m
2019-07-30T19:34:51.408Z,1564515291.408 [MissionManager](INFO): DefineOutput esp_kiss:Science.PatchChlLatitude = nan arcdeg
2019-07-30T19:34:51.414Z,1564515291.414 [MissionManager](INFO): DefineOutput esp_kiss:Science.PatchChlLongitude = nan arcdeg
2019-07-30T19:34:51.421Z,1564515291.421 [MissionManager](INFO): DefineOutput esp_kiss:Science.PatchChlDistance = nan m
2019-07-30T19:34:51.423Z,1564515291.423 [MissionManager](INFO): DefineOutput esp_kiss:Science.PeakOil = 0.000000 kg/m3
2019-07-30T19:34:51.426Z,1564515291.426 [MissionManager](INFO): DefineOutput esp_kiss:Science.PeakOilDepth = 0.000000 m
2019-07-30T19:34:51.428Z,1564515291.428 [MissionManager](INFO): DefineOutput esp_kiss:Science.PeakOilLatitude = nan arcdeg
2019-07-30T19:34:51.438Z,1564515291.438 [MissionManager](INFO): DefineOutput esp_kiss:Science.PeakOilLongitude = nan arcdeg
2019-07-30T19:34:51.461Z,1564515291.461 [MissionManager](INFO): DefineOutput esp_kiss:Science.PeakFDOM = 0.000000 ppb
2019-07-30T19:34:51.463Z,1564515291.463 [MissionManager](INFO): DefineOutput esp_kiss:Science.PeakFDOMDepth = 0.000000 m
2019-07-30T19:34:51.474Z,1564515291.474 [MissionManager](INFO): DefineOutput esp_kiss:Science.PeakFDOMLatitude = nan arcdeg
2019-07-30T19:34:51.476Z,1564515291.476 [MissionManager](INFO): DefineOutput esp_kiss:Science.PeakFDOMLongitude = nan arcdeg
2019-07-30T19:34:51.511Z,1564515291.511 [MissionManager](INFO): DefineOutput esp_kiss:Science.PatchFDOMDistance = nan m
2019-07-30T19:34:51.560Z,1564515291.560 [esp_kiss:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2019-07-30T19:34:51.583Z,1564515291.583 [esp_kiss:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2019-07-30T19:34:51.607Z,1564515291.607 [esp_kiss:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2019-07-30T19:34:51.630Z,1564515291.630 [esp_kiss:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2019-07-30T19:34:51.648Z,1564515291.648 [esp_kiss:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2019-07-30T19:34:51.680Z,1564515291.680 [esp_kiss:InitialDive:C.Pitch](DEBUG): Construct.
2019-07-30T19:34:51.693Z,1564515291.693 [esp_kiss:InitialDive:D.Point](DEBUG): Construct.
2019-07-30T19:34:51.709Z,1564515291.709 [esp_kiss:InitialDive:E.Buoyancy](DEBUG): Construct Buoyancy.
2019-07-30T19:34:51.713Z,1564515291.713 [esp_kiss:InitialDive:G.Wait](DEBUG): Construct Wait.
2019-07-30T19:34:51.730Z,1564515291.730 [esp_kiss:InitialDive:ApproachDepth:A.SetSpeed](DEBUG): Construct.
2019-07-30T19:34:51.741Z,1564515291.741 [esp_kiss:InitialDive:ApproachDepth:B.Pitch](DEBUG): Construct.
2019-07-30T19:34:51.755Z,1564515291.755 [esp_kiss:InitialDive:ApproachDepth:B.Pitch:A_Timeout:B.Execute](DEBUG): Construct Execute.
2019-07-30T19:34:51.768Z,1564515291.768 [esp_kiss:SettleAtDepth:B.Pitch](DEBUG): Construct.
2019-07-30T19:34:51.789Z,1564515291.789 [esp_kiss:SettleAtDepth:C.Wait](DEBUG): Construct Wait.
2019-07-30T19:34:51.791Z,1564515291.791 [esp_kiss:SampleAtTargetDepth:A.SetSpeed](DEBUG): Construct.
2019-07-30T19:34:51.805Z,1564515291.805 [esp_kiss:SampleAtTargetDepth:B.Pitch](DEBUG): Construct.
2019-07-30T19:34:51.819Z,1564515291.819 [esp_kiss:SampleAtTargetDepth:Spinout:HoldMassPosition.Pitch](DEBUG): Construct.
2019-07-30T19:34:51.823Z,1564515291.823 [esp_kiss:SampleAtTargetDepth:Spinout:HoldBuoyancyPosition.Buoyancy](DEBUG): Construct Buoyancy.
2019-07-30T19:34:51.842Z,1564515291.842 [esp_kiss:SampleAtTargetDepth:Spinout:HoldRudderAngle.Point](DEBUG): Construct.
2019-07-30T19:34:52.015Z,1564515292.015 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>

<Mission xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
         xmlns="Tethys"
         xmlns:Units="Tethys/Units"
         xmlns:Guidance="Tethys/Guidance"
         xmlns:Control="Tethys/Control"
         xsi:schemaLocation="Tethys http://okeanids.mbari.org/tethys/Xml/Tethys.xsd
                             Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd
                             Tethys/Guidance http://okeanids.mbari.org/tethys/Xml/Guidance.xsd
                             Tethys/Control http://okeanids.mbari.org/tethys/Xml/Control.xsd
                             Tethys/Science http://okeanids.mbari.org/tethys/Xml/Science.xsd"
       Id="esp_kiss">

    <Description>
        This mission takes ESP samples at the designated depth.
    </Description>

    <DefineArg Name="MissionTimeout"><Description>
        Maximum duration of mission.
    </Description><Units:hour/><Value>4</Value></DefineArg>

    <DefineArg Name="TargetDepth"><Description>
        Depth to sample at. Initialized to 3 m.
    </Description><Units:meter/><Value>3</Value></DefineArg>

    <DefineArg Name="ESPCartridgeType_1"><Description>
        Specifies ESP cartridge type code for sample# 1. Set to NaN to skip this sample.
    </Description><Units:count/><Value>-4</Value></DefineArg>

    <DefineArg Name="ESPCartridgeType_2"><Description>
        Specifies ESP cartridge type code for sample# 2. Set to NaN to skip this sample.
    </Description><Units:count/><Value>-9</Value></DefineArg>

    <DefineArg Name="ESPCartridgeType_3"><Description>
        Specifies ESP cartridge type code for sample# 3. Set to NaN to skip this sample.
    </Description><Units:count/><Value>NaN</Value></DefineArg>

    <DefineArg Name="ESPCartridgeType_4"><Description>
        Specifies ESP cartridge type code for sample# 4. Set to NaN to skip this sample.
    </Description><Units:count/><Value>NaN</Value></DefineArg>

    <DefineArg Name="SettleTime"><Description>
        How long to wait between samples. This starts *before* the first sample.
    </Description><Units:minute/><Value>3</Value></DefineArg>

    <DefineArg Name="Speed"><Description>
        Vehicle speed while sampling. Set to zero to maintain depth using VBS (drift).
    </Description><Units:meter_per_second/><Value>0</Value></DefineArg>

    <DefineArg Name="ApproachDepth"><Description>
        Depth for initial descent form the surface. Initialized to 3 m.
    </Description><Units:meter/><Value>2</Value></DefineArg>

    <DefineArg Name="ApproachSpeed"><Description>
        Vehicle speed for initial descent form the surface to target depth. Set to zero
        to disable the thruster and descend using VBS (drift).
    </Description><Units:meter_per_second/><Value>0.7</Value></DefineArg>

    <DefineArg Name="ApproachDepthRate"><Description>
        Descent depth rate (Positive depth rate means going down).
    </Description><Units:meter_per_second/><Value>0.05</Value></DefineArg>

    <DefineArg Name="ApproachPitchLimit"><Description>
        Max vehicle pitch (+/-) when decending from the surface.
    </Description><Units:degree/><Value>10</Value></DefineArg>

    <DefineArg Name="ApproachSettleTimePreDive"><Description>
        Time duration for the vehicle to pump down the VBS *BEFORE* leaving the surface.
    </Description><Units:minute/><Value>0.2</Value></DefineArg>

    <DefineArg Name="ApproachSettleTimePostDive"><Description>
        Time duration for the vehicle to settele *AFTER* reaching the target depth.
    </Description><Units:minute/><Value>0.2</Value></DefineArg>

    <DefineArg Name="ApproachDepthTimeout"><Description>
        Maximum time duration for the vehicle to reach the target depth.
    </Description><Units:minute/><Value>15</Value></DefineArg>

    <DefineArg Name="kpDepth"><Description>
        Dive loop proportional gain (applied only while the vehicle is descending to target depth).
    </Description><Units:radian_per_meter/><Value>0.07</Value></DefineArg>

    <DefineArg Name="DepthDeadband"><Description>
        How much vertical drift from the specified depth is allowed while sampling.
    </Description><Units:meter/><Value>0.01</Value></DefineArg>

    <DefineArg Name="MinAltitude"><Description>
        Minimum height above the sea floor for the entire mission.
    </Description><Units:meter/><Value>2</Value></DefineArg>

    <DefineArg Name="MaxDepth"><Description>
        Maximum allowable depth during the mission.
    </Description><Units:meter/><Value>5</Value></DefineArg>

    <DefineArg Name="MinOffshore"><Description>
        Minimum distance from the shoreline to maintain.
    </Description><Units:kilometer/><Value>1</Value></DefineArg>

    <DefineOutput Name="ESPCartridgeType"><Description>
        Mission parameter (don't change). Specifies ESP cartridge type code.
    </Description><Units:count/><Value>NaN</Value></DefineOutput>
    
    <!-- Mission timeout -->

    <Timeout Duration="MissionTimeout"/>

    <!-- Safety nets and surfacing behaviors -->

    <Trigger:AbortSample>
        <Parallel/>
    </Trigger:AbortSample>

    <Insert Filename="Insert/StandardEnvelopes.xml"/>

    <Assign><Sequence/><Arg Name="StandardEnvelopes:MaxDepth"/><Arg Name="MaxDepth"/></Assign>

    <Assign><Sequence/><Arg Name="StandardEnvelopes:MinAltitude"/><Arg Name="MinAltitude"/></Assign>

    <Assign><Sequence/><Arg Name="StandardEnvelopes:MinOffshore"/><Arg Name="MinOffshore"/></Assign>


    <Insert Filename="Insert/NeedComms.xml" Id="NeedComms"/>

    <Assign><Sequence/><Arg Name="NeedComms:DiveInterval"/><Arg Name="MissionTimeout"/></Assign>

    <Assign><Sequence/><Arg Name="NeedComms:WaitForPitchUp"/><Units:minute/><Value>0</Value></Assign>


    <Assign><Parallel/><Control:VerticalControl.depthDeadband/><Arg Name="DepthDeadband"/></Assign>

        
    <!-- Callable aggregate -->

    <Aggregate Id="SampleESP">
        
        <When>
            <Called/>
        </When>

        <Aggregate Id="sample">
            <Sequence/>

            <Syslog Severity="Important">At <Universal:depth/><Units:meter/>, settling for <Arg Name="SettleTime"/><Units:minute/></Syslog>

            <Guidance:Wait>
                <Sequence/>
                <Setting><Guidance:Wait.duration/><Arg Name="SettleTime"/></Setting>
            </Guidance:Wait>

            <Syslog Severity="Important">Requesting ESP cartridge type:<Arg Name="ESPCartridgeType"/><Units:count/></Syslog>

            <Assign><Sequence/><Science:ESPComponent.cartridge/><Arg Name="ESPCartridgeType"/></Assign>

            <ReadDatum Id="TriggerESP">
                <Science:ESPComponent.sampling/>
            </ReadDatum>

            <Syslog Severity="Important">ESP sampling at <Universal:depth/><Units:meter/> in <Science:CTD_NeilBrown.bin_mean_sea_water_temperature/><Units:celsius/> water with <Science:WetLabsBB2FL.bin_mean_mass_concentration_of_chlorophyll_in_sea_water/><Units:microgram_per_liter/>chlorophyll fluorescence.</Syslog>

            <ReadDatum Id="WaitForESP">
                <Science:ESPComponent.sample_number/>
            </ReadDatum>
        </Aggregate>

    </Aggregate>


    <!-- Start mission sequence -->

    <Call Id="StartingMission" RefId="NeedComms"/>
    
    <Insert Filename="Insert/Science.xml"></Insert>

    <Aggregate Id="InitialDive">
        <Description>
            Descend from the surface to approach depth at ApproachSpeed, limit pitch,
            depth-rate, and hold the rudder.
        </Description>

        <Sequence/>

        <Assign><Parallel/><Control:VerticalControl.pitchLimit/><Arg Name="ApproachPitchLimit"/></Assign>

        <Assign><Parallel/><Control:VerticalControl.kpDepth/><Arg Name="kpDepth"/></Assign>

        <Guidance:Pitch>
            <Parallel/>
            <Setting><Guidance:Pitch.massPosition/><Control:VerticalControl.massDefault/></Setting>
        </Guidance:Pitch>

        <Guidance:Point>
            <Parallel/>
            <Setting><Guidance:Point.rudderAngle/><Units:degree/><Value>13</Value></Setting>
        </Guidance:Point>
        
        <Guidance:Buoyancy>
            <Parallel/>
            <Setting><Guidance:Buoyancy.position/><Control:VerticalControl.buoyancyNeutral/></Setting>
        </Guidance:Buoyancy>

        <Syslog Severity="Info">Waiting for <Arg Name="ApproachSettleTimePreDive"/><Units:minute/>while pumping down to neutral.</Syslog>

        <Guidance:Wait>
            <Description>Take a few moments to ensure the VBS reaches neutral.</Description>
            <Sequence/>
            <Setting><Guidance:Wait.duration/><Arg Name="ApproachSettleTimePreDive"/></Setting>
        </Guidance:Wait>

        <Syslog>Moving to <Arg Name="ApproachDepth"/><Units:meter/></Syslog>

        <Aggregate Id="ApproachDepth">

            <Sequence/>

            <Guidance:SetSpeed>
                <Parallel/>
                <Setting><Guidance:SetSpeed.speed/><Arg Name="ApproachSpeed"/></Setting>
            </Guidance:SetSpeed>

            <Guidance:Pitch>
                <Sequence/>

                <Timeout Duration="ApproachDepthTimeout">
                    <Syslog Severity="Important">Timed out while trying to reach target depth at current depth of <Universal:depth/><Units:meter/>.</Syslog>
                    <Guidance:Execute>
                        <Sequence/>
                        <Setting><Guidance:Execute.command/><String>stop</String></Setting>
                    </Guidance:Execute>
                </Timeout>

                <Setting><Guidance:Pitch.depth/><Arg Name="ApproachDepth"/></Setting>
                <Setting><Guidance:Pitch.depthRate/><Arg Name="ApproachDepthRate"/></Setting>
            </Guidance:Pitch>

        </Aggregate>

    </Aggregate>

    <Aggregate Id="SettleAtDepth">
        <Description>
            Take a few more moments here to ensure the vechile is settled at the target depth.
        </Description>

        <Sequence/>

        <Syslog Severity="Info">Reached <Universal:depth/><Units:meter/>, settling for <Arg Name="ApproachSettleTimePostDive"/><Units:minute/></Syslog>

        <Guidance:Pitch>
            <Parallel/>
            <Setting><Guidance:Pitch.depth/><Arg Name="TargetDepth"/></Setting>
        </Guidance:Pitch>

        <Guidance:Wait>
            <Sequence/>
            <Setting><Guidance:Wait.duration/><Arg Name="ApproachSettleTimePostDive"/></Setting>
        </Guidance:Wait>

    </Aggregate>

    <Aggregate Id="SampleAtTargetDepth">
        <Description>
            Maintain target depth and acquire ESP samples.
        </Description>

        <Sequence/>

        <Guidance:SetSpeed>
            <Parallel/>
            <Setting><Guidance:SetSpeed.speed/><Arg Name="Speed"/></Setting>
        </Guidance:SetSpeed>

        <Guidance:Pitch>
            <Parallel/>
            <Setting><Guidance:Pitch.depth/><Arg Name="TargetDepth"/></Setting>
        </Guidance:Pitch>
        
        <Aggregate Id="Spinout">
            <Description>
                A speed has been specified, spin in circels while sampling.
            </Description>
            
            <While>
                <Arg Name="Speed"/><Gt><Units:meter_per_second/><Value>0.0</Value></Gt>
            </While>
            
            <Guidance:Pitch Id="HoldMassPosition">
                <Parallel/>
                <Setting><Guidance:Pitch.massPosition/><Control:VerticalControl.massDefault/></Setting>
            </Guidance:Pitch>
            
            <Guidance:Buoyancy Id="HoldBuoyancyPosition">
                <Parallel/>
                <Setting><Guidance:Buoyancy.position/><Control:VerticalControl.buoyancyNeutral/></Setting>
            </Guidance:Buoyancy>

            <Guidance:Point Id="HoldRudderAngle">
                <Setting><Guidance:Point.rudderAngle/><Units:degree/><Value>13</Value></Setting>
            </Guidance:Point>

        </Aggregate>

        <Aggregate Id="GrabSamples">

            <Sequence/>

            <Aggregate Id="Sample1">
                <Break>
                    <IsNaN><Arg Name="ESPCartridgeType_1"/></IsNaN>
                </Break>

                <Assign><Sequence/><Arg Name="ESPCartridgeType"/><Arg Name="ESPCartridgeType_1"/></Assign>

                <Call RefId="SampleESP"/>
            </Aggregate>


            <Aggregate Id="Sample2">
                <Break>
                    <IsNaN><Arg Name="ESPCartridgeType_2"/></IsNaN>
                </Break>

                <Assign><Sequence/><Arg Name="ESPCartridgeType"/><Arg Name="ESPCartridgeType_2"/></Assign>

                <Call RefId="SampleESP"/>
            </Aggregate>


            <Aggregate Id="Sample3">
                <Break>
                    <IsNaN><Arg Name="ESPCartridgeType_3"/></IsNaN>
                </Break>
                
                <Assign><Sequence/><Arg Name="ESPCartridgeType"/><Arg Name="ESPCartridgeType_3"/></Assign>
                
                <Call RefId="SampleESP"/>
            </Aggregate>


            <Aggregate Id="Sample4">
                <Break>
                    <IsNaN><Arg Name="ESPCartridgeType_4"/></IsNaN>
                </Break>

                <Assign><Sequence/><Arg Name="ESPCartridgeType"/><Arg Name="ESPCartridgeType_4"/></Assign>

                <Call RefId="SampleESP"/>
            </Aggregate>

        </Aggregate>

    </Aggregate>

</Mission>


2019-07-30T19:34:52.017Z,1564515292.017 [CommandLine](IMPORTANT): Running ./Missions/Science/esp_kiss.xml
2019-07-30T19:34:52.330Z,1564515292.330 [Default] Stopped
2019-07-30T19:34:52.331Z,1564515292.331 [Default](DEBUG): Aggregate::uninitialize Default
2019-07-30T19:34:52.331Z,1564515292.331 [Default:B.GoToSurface] Stopped
2019-07-30T19:34:52.331Z,1564515292.331 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-07-30T19:34:52.331Z,1564515292.331 [Default:CheckIn] Stopped
2019-07-30T19:34:52.331Z,1564515292.331 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-07-30T19:34:52.331Z,1564515292.331 [Default:CheckIn:Read_GPS] Stopped
2019-07-30T19:34:52.331Z,1564515292.331 [MissionManager](IMPORTANT): Started mission esp_kiss
2019-07-30T19:34:52.331Z,1564515292.331 [esp_kiss] Running Loop=1
2019-07-30T19:34:52.332Z,1564515292.332 [esp_kiss](DEBUG): Aggregate::initialize esp_kiss
2019-07-30T19:34:52.332Z,1564515292.332 [esp_kiss:A.AbortSample] Running Loop=1
2019-07-30T19:34:52.332Z,1564515292.332 [esp_kiss:A.AbortSample](INFO): Initializing AbortSample.
2019-07-30T19:34:52.332Z,1564515292.332 [esp_kiss:StandardEnvelopes] Running Loop=1
2019-07-30T19:34:52.332Z,1564515292.332 [esp_kiss:StandardEnvelopes](DEBUG): Aggregate::initialize esp_kiss:StandardEnvelopes
2019-07-30T19:34:52.332Z,1564515292.332 [esp_kiss:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2019-07-30T19:34:52.332Z,1564515292.332 [esp_kiss:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2019-07-30T19:34:52.332Z,1564515292.332 [esp_kiss:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2019-07-30T19:34:52.332Z,1564515292.332 [esp_kiss:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2019-07-30T19:34:52.333Z,1564515292.333 [esp_kiss:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2019-07-30T19:34:52.333Z,1564515292.333 [esp_kiss:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2019-07-30T19:34:52.333Z,1564515292.333 [esp_kiss:I] Running Loop=1
2019-07-30T19:34:52.333Z,1564515292.333 [esp_kiss:Science] Running Loop=1
2019-07-30T19:34:52.333Z,1564515292.333 [esp_kiss:Science](DEBUG): Aggregate::initialize esp_kiss:Science
2019-07-30T19:34:52.333Z,1564515292.333 [esp_kiss:Science:A] Running Loop=1
2019-07-30T19:34:52.333Z,1564515292.333 [esp_kiss:Science:B] Running Loop=1
2019-07-30T19:34:52.333Z,1564515292.333 [esp_kiss:Science:C] Running Loop=1
2019-07-30T19:34:52.333Z,1564515292.333 [esp_kiss:Science:D] Running Loop=1
2019-07-30T19:34:52.333Z,1564515292.333 [esp_kiss:Science:E] Running Loop=1
2019-07-30T19:34:52.333Z,1564515292.333 [esp_kiss:Science:F] Running Loop=1
2019-07-30T19:34:52.334Z,1564515292.334 [esp_kiss:Science:G] Running Loop=1
2019-07-30T19:34:52.334Z,1564515292.334 [esp_kiss:Science:H] Running Loop=1
2019-07-30T19:34:52.334Z,1564515292.334 [esp_kiss:Science:Read_Oil] Running Loop=1
2019-07-30T19:34:52.334Z,1564515292.334 [esp_kiss:Science:PeakDetectChl] Running Loop=1
2019-07-30T19:34:52.334Z,1564515292.334 [esp_kiss:Science:PeakDetectChl](DEBUG): Aggregate::initialize esp_kiss:Science:PeakDetectChl
2019-07-30T19:34:52.334Z,1564515292.334 [esp_kiss:Science:PeakDetectChl:A.PeakDetectVsDepth] Running Loop=1
2019-07-30T19:34:52.334Z,1564515292.334 [esp_kiss:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Initialize.
2019-07-30T19:34:52.335Z,1564515292.335 [esp_kiss:Science:HighestChlPeakReport] Running Loop=1
2019-07-30T19:34:52.335Z,1564515292.335 [esp_kiss:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize esp_kiss:Science:HighestChlPeakReport
2019-07-30T19:34:52.336Z,1564515292.336 [esp_kiss:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2019-07-30T19:34:52.336Z,1564515292.336 [esp_kiss:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2019-07-30T19:34:52.336Z,1564515292.336 [esp_kiss:Science:PeakDetectNO3] Running Loop=1
2019-07-30T19:34:52.336Z,1564515292.336 [esp_kiss:Science:PeakDetectNO3](DEBUG): Aggregate::initialize esp_kiss:Science:PeakDetectNO3
2019-07-30T19:34:52.336Z,1564515292.336 [esp_kiss:Science:PeakDetectNO3:A.PeakDetectVsDepth] Running Loop=1
2019-07-30T19:34:52.336Z,1564515292.336 [esp_kiss:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Initialize.
2019-07-30T19:34:52.337Z,1564515292.337 [esp_kiss:Science:PeakDetectOil] Running Loop=1
2019-07-30T19:34:52.338Z,1564515292.338 [esp_kiss:Science:PeakDetectOil](DEBUG): Aggregate::initialize esp_kiss:Science:PeakDetectOil
2019-07-30T19:34:52.338Z,1564515292.338 [esp_kiss:Science:PeakDetectOil:A.PeakDetectVsDepth] Running Loop=1
2019-07-30T19:34:52.338Z,1564515292.338 [esp_kiss:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Initialize.
2019-07-30T19:34:52.339Z,1564515292.339 [esp_kiss:Science:PeakDetectFDOM] Running Loop=1
2019-07-30T19:34:52.339Z,1564515292.339 [esp_kiss:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize esp_kiss:Science:PeakDetectFDOM
2019-07-30T19:34:52.339Z,1564515292.339 [esp_kiss:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Running Loop=1
2019-07-30T19:34:52.339Z,1564515292.339 [esp_kiss:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Initialize.
2019-07-30T19:34:52.340Z,1564515292.340 [esp_kiss:C] Running Loop=1
2019-07-30T19:34:52.341Z,1564515292.341 [esp_kiss:Science] Running Loop=1
2019-07-30T19:34:52.342Z,1564515292.342 [esp_kiss:Science:PeakDetectFDOM] Stopped
2019-07-30T19:34:52.342Z,1564515292.342 [esp_kiss:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize esp_kiss:Science:PeakDetectFDOM
2019-07-30T19:34:52.342Z,1564515292.342 [esp_kiss:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Stopped
2019-07-30T19:34:52.342Z,1564515292.342 [esp_kiss:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2019-07-30T19:34:52.342Z,1564515292.342 [esp_kiss:Science:PeakDetectOil] Stopped
2019-07-30T19:34:52.342Z,1564515292.342 [esp_kiss:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize esp_kiss:Science:PeakDetectOil
2019-07-30T19:34:52.343Z,1564515292.343 [esp_kiss:Science:PeakDetectOil:A.PeakDetectVsDepth] Stopped
2019-07-30T19:34:52.343Z,1564515292.343 [esp_kiss:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2019-07-30T19:34:52.343Z,1564515292.343 [esp_kiss:Science:PeakDetectNO3] Stopped
2019-07-30T19:34:52.343Z,1564515292.343 [esp_kiss:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize esp_kiss:Science:PeakDetectNO3
2019-07-30T19:34:52.343Z,1564515292.343 [esp_kiss:Science:PeakDetectNO3:A.PeakDetectVsDepth] Stopped
2019-07-30T19:34:52.343Z,1564515292.343 [esp_kiss:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2019-07-30T19:34:52.343Z,1564515292.343 [esp_kiss:Science:HighestChlPeakReport] Stopped
2019-07-30T19:34:52.343Z,1564515292.343 [esp_kiss:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize esp_kiss:Science:HighestChlPeakReport
2019-07-30T19:34:52.343Z,1564515292.343 [esp_kiss:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2019-07-30T19:34:52.343Z,1564515292.343 [esp_kiss:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2019-07-30T19:34:52.343Z,1564515292.343 [esp_kiss:Science:PeakDetectChl] Stopped
2019-07-30T19:34:52.343Z,1564515292.343 [esp_kiss:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize esp_kiss:Science:PeakDetectChl
2019-07-30T19:34:52.343Z,1564515292.343 [esp_kiss:Science:PeakDetectChl:A.PeakDetectVsDepth] Stopped
2019-07-30T19:34:52.344Z,1564515292.344 [esp_kiss:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2019-07-30T19:34:52.344Z,1564515292.344 [esp_kiss:Science:Read_Oil] Stopped
2019-07-30T19:34:52.344Z,1564515292.344 [esp_kiss:Science:H] Stopped
2019-07-30T19:34:52.344Z,1564515292.344 [esp_kiss:Science:G] Stopped
2019-07-30T19:34:52.344Z,1564515292.344 [esp_kiss:Science:F] Stopped
2019-07-30T19:34:52.344Z,1564515292.344 [esp_kiss:Science:E] Stopped
2019-07-30T19:34:52.344Z,1564515292.344 [esp_kiss:Science:D] Stopped
2019-07-30T19:34:52.344Z,1564515292.344 [esp_kiss:Science:C] Stopped
2019-07-30T19:34:52.344Z,1564515292.344 [esp_kiss:Science:B] Stopped
2019-07-30T19:34:52.344Z,1564515292.344 [esp_kiss:Science:A] Stopped
2019-07-30T19:34:52.345Z,1564515292.345 [esp_kiss:I] Running Loop=1
2019-07-30T19:34:52.345Z,1564515292.345 [esp_kiss:C] Stopped
2019-07-30T19:34:52.345Z,1564515292.345 [esp_kiss:D] Running Loop=1
2019-07-30T19:34:52.345Z,1564515292.345 [esp_kiss:StandardEnvelopes] Running Loop=1
2019-07-30T19:34:52.345Z,1564515292.345 [esp_kiss:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2019-07-30T19:34:52.346Z,1564515292.346 [esp_kiss:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2019-07-30T19:34:52.346Z,1564515292.346 [esp_kiss:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2019-07-30T19:34:52.346Z,1564515292.346 [esp_kiss:A.AbortSample] Running Loop=1
2019-07-30T19:34:52.746Z,1564515292.746 [esp_kiss:D] Stopped
2019-07-30T19:34:52.746Z,1564515292.746 [esp_kiss:E] Running Loop=1
2019-07-30T19:34:53.149Z,1564515293.149 [esp_kiss:E] Stopped
2019-07-30T19:34:53.149Z,1564515293.149 [esp_kiss:G] Running Loop=1
2019-07-30T19:34:53.531Z,1564515293.531 [esp_kiss:G] Stopped
2019-07-30T19:34:53.531Z,1564515293.531 [esp_kiss:H] Running Loop=1
2019-07-30T19:34:53.938Z,1564515293.938 [esp_kiss:H] Stopped
2019-07-30T19:34:53.939Z,1564515293.939 [esp_kiss:StartingMission] Running Loop=1
2019-07-30T19:34:53.939Z,1564515293.939 [esp_kiss:StartingMission](DEBUG): Aggregate::initialize esp_kiss:StartingMission
2019-07-30T19:34:53.940Z,1564515293.940 [esp_kiss:StandardEnvelopes:A.AltitudeEnvelope](ERROR): Altitude Measurement is not Active.
2019-07-30T19:34:54.349Z,1564515294.349 [esp_kiss:NeedComms] Running Loop=1
2019-07-30T19:34:54.350Z,1564515294.350 [esp_kiss:NeedComms](DEBUG): Aggregate::initialize esp_kiss:NeedComms
2019-07-30T19:34:54.350Z,1564515294.350 [esp_kiss:NeedComms:B.GoToSurface] Running Loop=1
2019-07-30T19:34:54.350Z,1564515294.350 [esp_kiss:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-07-30T19:34:54.350Z,1564515294.350 [esp_kiss:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2019-07-30T19:34:54.351Z,1564515294.351 [esp_kiss:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2019-07-30T19:34:54.351Z,1564515294.351 [esp_kiss:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2019-07-30T19:34:54.351Z,1564515294.351 [esp_kiss:NeedComms:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-07-30T19:34:54.351Z,1564515294.351 [esp_kiss:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-07-30T19:34:54.352Z,1564515294.352 [esp_kiss:NeedComms:A] Running Loop=1
2019-07-30T19:34:54.353Z,1564515294.353 [esp_kiss:NeedComms:A](INFO): last time_fix was: 1564514688.000000 second since 1970/01/01T00:00:00Z 
2019-07-30T19:34:54.353Z,1564515294.353 [esp_kiss:NeedComms:A] Stopped
2019-07-30T19:34:54.743Z,1564515294.743 [esp_kiss:NeedComms:C] Running Loop=1
2019-07-30T19:34:55.153Z,1564515295.153 [esp_kiss:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2019-07-30T19:35:03.162Z,1564515303.162 [CommandLine](IMPORTANT): got command maintain sensor NAL9602.latitude_fix 36.797001 degree
2019-07-30T19:35:03.163Z,1564515303.163 [ComponentRegistry](DEBUG): SyncComponent "Maintain_NAL9602.latitude_fix" handled in the control thread.
2019-07-30T19:35:03.164Z,1564515303.164 [CommandLine](IMPORTANT): got command maintain sensor NAL9602.longitude_fix -121.847000 degree
2019-07-30T19:35:03.165Z,1564515303.165 [ComponentRegistry](DEBUG): SyncComponent "Maintain_NAL9602.longitude_fix" handled in the control thread.
2019-07-30T19:35:03.289Z,1564515303.289 [controlThread](DEBUG): Component order: CycleStarter,Depth_Keller,NAL9602,Onboard,BPC1,ESPComponent,PAR_Licor,Depth_Keller,PAR_Licor,Maintain_NAL9602.latitude_fix,Maintain_NAL9602.longitude_fix,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,LogSplitter,
2019-07-30T19:35:09.406Z,1564515309.406 [CommandLine](IMPORTANT): got command set NAL9602.time_fix 1564515328.000000 second
2019-07-30T19:35:09.718Z,1564515309.718 [esp_kiss:NeedComms:C] Stopped
2019-07-30T19:35:09.718Z,1564515309.718 [esp_kiss:NeedComms:D] Running Loop=1
2019-07-30T19:35:10.127Z,1564515310.127 [esp_kiss:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2019-07-30T19:35:19.004Z,1564515319.004 [DataOverHttps](INFO): Sending 42 bytes from file Logs/20190730T190859/Courier0010.lzma
2019-07-30T19:35:19.810Z,1564515319.810 [DataOverHttps](INFO): Moved sent file to Logs/20190730T190859/Courier0010.lzma.bak
2019-07-30T19:35:19.810Z,1564515319.810 [DataOverHttps](INFO): SBD MOMSN=11483581
2019-07-30T19:35:33.729Z,1564515333.729 [DataOverHttps](INFO): Sending 836 bytes from file Logs/20190730T190859/Express0011.lzma
2019-07-30T19:35:34.534Z,1564515334.534 [DataOverHttps](INFO): Moved sent file to Logs/20190730T190859/Express0011.lzma.bak
2019-07-30T19:35:34.535Z,1564515334.535 [DataOverHttps](INFO): SBD MOMSN=11483583
2019-07-30T19:35:35.366Z,1564515335.366 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2019-07-30T19:35:36.232Z,1564515336.232 [esp_kiss:NeedComms:D] Stopped
2019-07-30T19:35:36.232Z,1564515336.232 [esp_kiss:NeedComms:E] Running Loop=1
2019-07-30T19:35:36.637Z,1564515336.637 [esp_kiss:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2019-07-30T19:35:37.790Z,1564515337.790 [NAL9602](FAULT): GPS failed to acquire within timeout.
2019-07-30T19:35:37.790Z,1564515337.790 [NAL9602] Data Fault, FailCount= 2
2019-07-30T19:35:37.790Z,1564515337.790 [NAL9602](ERROR): Data Fault
2019-07-30T19:35:37.856Z,1564515337.856 [CBIT](ERROR): Data Fault in component: NAL9602
2019-07-30T19:35:38.194Z,1564515338.194 [NAL9602](INFO): Powering down
2019-07-30T19:35:39.038Z,1564515339.038 [CBIT](INFO): Clearing failed state for component NAL9602
2019-07-30T19:35:39.038Z,1564515339.038 [NAL9602] No Fault, FailCount= 2
2019-07-30T19:36:04.502Z,1564515364.502 [CommandLine](IMPORTANT): got command set NAL9602.time_fix 1564515328.000000 second
2019-07-30T19:36:08.490Z,1564515368.490 [NAL9602](INFO): Powering up NAL9602
2019-07-30T19:36:12.963Z,1564515372.963 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-07-30T19:36:12.963Z,1564515372.963 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 1
2019-07-30T19:36:12.963Z,1564515372.963 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-07-30T19:36:12.976Z,1564515372.976 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-07-30T19:36:13.377Z,1564515373.377 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-07-30T19:36:13.377Z,1564515373.377 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 1
2019-07-30T19:36:19.399Z,1564515379.399 [NAL9602](INFO): NAL9602 initialized
2019-07-30T19:36:20.221Z,1564515380.221 [NAL9602](DEBUG): Fix Requested
2019-07-30T19:36:23.045Z,1564515383.045 [NAL9602](DEBUG): Fix Requested
2019-07-30T19:36:25.877Z,1564515385.877 [NAL9602](DEBUG): Fix Requested
2019-07-30T19:36:26.882Z,1564515386.882 [CommandLine](IMPORTANT): got command set NAL9602.time_fix 1564515328.000000 second
2019-07-30T19:36:27.109Z,1564515387.109 [esp_kiss:NeedComms:E] Stopped
2019-07-30T19:36:27.110Z,1564515387.110 [esp_kiss:NeedComms](INFO): Completed esp_kiss:NeedComms
2019-07-30T19:36:27.110Z,1564515387.110 [esp_kiss:NeedComms] Stopped
2019-07-30T19:36:27.110Z,1564515387.110 [esp_kiss:NeedComms](DEBUG): Aggregate::uninitialize esp_kiss:NeedComms
2019-07-30T19:36:27.111Z,1564515387.111 [esp_kiss:NeedComms:B.GoToSurface] Stopped
2019-07-30T19:36:27.111Z,1564515387.111 [esp_kiss:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-07-30T19:36:27.529Z,1564515387.529 [esp_kiss:StartingMission](INFO): Completed esp_kiss:StartingMission
2019-07-30T19:36:27.529Z,1564515387.529 [esp_kiss:StartingMission] Stopped
2019-07-30T19:36:27.530Z,1564515387.530 [esp_kiss:StartingMission](DEBUG): Aggregate::uninitialize esp_kiss:StartingMission
2019-07-30T19:36:27.530Z,1564515387.530 [esp_kiss:InitialDive] Running Loop=1
2019-07-30T19:36:27.530Z,1564515387.530 [esp_kiss:InitialDive](DEBUG): Aggregate::initialize esp_kiss:InitialDive
2019-07-30T19:36:27.530Z,1564515387.530 [esp_kiss:InitialDive:A] Running Loop=1
2019-07-30T19:36:27.530Z,1564515387.530 [esp_kiss:InitialDive:B] Running Loop=1
2019-07-30T19:36:27.530Z,1564515387.530 [esp_kiss:InitialDive:C.Pitch] Running Loop=1
2019-07-30T19:36:27.530Z,1564515387.530 [esp_kiss:InitialDive:C.Pitch](DEBUG): Initialize.
2019-07-30T19:36:27.530Z,1564515387.530 [esp_kiss:InitialDive:D.Point] Running Loop=1
2019-07-30T19:36:27.530Z,1564515387.530 [esp_kiss:InitialDive:D.Point](DEBUG): Initialize.
2019-07-30T19:36:27.530Z,1564515387.530 [esp_kiss:InitialDive:E.Buoyancy] Running Loop=1
2019-07-30T19:36:27.530Z,1564515387.530 [esp_kiss:InitialDive:E.Buoyancy](DEBUG): Initialize Buoyancy Component.
2019-07-30T19:36:27.531Z,1564515387.531 [esp_kiss:InitialDive:F] Running Loop=1
2019-07-30T19:36:27.909Z,1564515387.909 [esp_kiss:InitialDive:F](INFO): Waiting for 0.200000 min while pumping down to neutral.
2019-07-30T19:36:27.909Z,1564515387.909 [esp_kiss:InitialDive:F] Stopped
2019-07-30T19:36:27.909Z,1564515387.909 [esp_kiss:InitialDive:G.Wait] Running Loop=1
2019-07-30T19:36:27.910Z,1564515387.910 [esp_kiss:InitialDive:G.Wait](DEBUG): Initialize Wait Component.
2019-07-30T19:36:27.910Z,1564515387.910 [esp_kiss:InitialDive:E.Buoyancy] Running Loop=1
2019-07-30T19:36:27.910Z,1564515387.910 [esp_kiss:InitialDive:D.Point] Running Loop=1
2019-07-30T19:36:27.910Z,1564515387.910 [esp_kiss:InitialDive:C.Pitch] Running Loop=1
2019-07-30T19:36:27.910Z,1564515387.910 [esp_kiss:InitialDive:B] Running Loop=1
2019-07-30T19:36:27.911Z,1564515387.911 [esp_kiss:InitialDive:A] Running Loop=1
2019-07-30T19:36:35.323Z,1564515395.323 [CommandLine](IMPORTANT): got command maintain sensor DepthRateCalculator.depth_rate 0.001000 meter_per_second
2019-07-30T19:36:35.324Z,1564515395.324 [ComponentRegistry](DEBUG): SyncComponent "Maintain_DepthRateCalculator.depth_rate" handled in the control thread.
2019-07-30T19:36:35.325Z,1564515395.325 [CommandLine](IMPORTANT): got command maintain sensor Depth_Keller.depth 2.000000 meter
2019-07-30T19:36:35.326Z,1564515395.326 [ComponentRegistry](DEBUG): SyncComponent "Maintain_Depth_Keller.depth" handled in the control thread.
2019-07-30T19:36:35.627Z,1564515395.627 [controlThread](DEBUG): Component order: CycleStarter,Depth_Keller,NAL9602,Onboard,BPC1,ESPComponent,PAR_Licor,Depth_Keller,PAR_Licor,Maintain_NAL9602.latitude_fix,Maintain_NAL9602.longitude_fix,Maintain_DepthRateCalculator.depth_rate,Maintain_Depth_Keller.depth,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,LogSplitter,
2019-07-30T19:36:40.434Z,1564515400.434 [esp_kiss:InitialDive:G.Wait](INFO): Done Waiting.
2019-07-30T19:36:40.434Z,1564515400.434 [esp_kiss:InitialDive:G.Wait] Stopped
2019-07-30T19:36:40.435Z,1564515400.435 [esp_kiss:InitialDive:G.Wait](DEBUG): Uninitialize Wait Component.
2019-07-30T19:36:40.435Z,1564515400.435 [esp_kiss:InitialDive:H] Running Loop=1
2019-07-30T19:36:40.851Z,1564515400.851 [esp_kiss:InitialDive:H](INFO): Moving to 2.000000 m 
2019-07-30T19:36:40.851Z,1564515400.851 [esp_kiss:InitialDive:H] Stopped
2019-07-30T19:36:40.851Z,1564515400.851 [esp_kiss:InitialDive:ApproachDepth] Running Loop=1
2019-07-30T19:36:40.851Z,1564515400.851 [esp_kiss:InitialDive:ApproachDepth](DEBUG): Aggregate::initialize esp_kiss:InitialDive:ApproachDepth
2019-07-30T19:36:40.852Z,1564515400.852 [esp_kiss:InitialDive:ApproachDepth:A.SetSpeed] Running Loop=1
2019-07-30T19:36:40.852Z,1564515400.852 [esp_kiss:InitialDive:ApproachDepth:A.SetSpeed](DEBUG): Initialize.
2019-07-30T19:36:40.852Z,1564515400.852 [esp_kiss:InitialDive:ApproachDepth:B.Pitch] Running Loop=1
2019-07-30T19:36:40.852Z,1564515400.852 [esp_kiss:InitialDive:ApproachDepth:B.Pitch](DEBUG): Initialize.
2019-07-30T19:36:41.245Z,1564515401.245 [esp_kiss:InitialDive:ApproachDepth:B.Pitch] Stopped
2019-07-30T19:36:41.245Z,1564515401.245 [esp_kiss:InitialDive:ApproachDepth:A.SetSpeed] Running Loop=1
2019-07-30T19:36:41.245Z,1564515401.245 [esp_kiss:InitialDive:ApproachDepth](INFO): Completed esp_kiss:InitialDive:ApproachDepth
2019-07-30T19:36:41.246Z,1564515401.246 [esp_kiss:InitialDive:ApproachDepth] Stopped
2019-07-30T19:36:41.246Z,1564515401.246 [esp_kiss:InitialDive:ApproachDepth](DEBUG): Aggregate::uninitialize esp_kiss:InitialDive:ApproachDepth
2019-07-30T19:36:41.246Z,1564515401.246 [esp_kiss:InitialDive:ApproachDepth:A.SetSpeed] Stopped
2019-07-30T19:36:41.246Z,1564515401.246 [esp_kiss:InitialDive:ApproachDepth:A.SetSpeed](DEBUG): Uninitialize.
2019-07-30T19:36:41.247Z,1564515401.247 [esp_kiss:InitialDive](INFO): Completed esp_kiss:InitialDive
2019-07-30T19:36:41.247Z,1564515401.247 [esp_kiss:InitialDive] Stopped
2019-07-30T19:36:41.247Z,1564515401.247 [esp_kiss:InitialDive](DEBUG): Aggregate::uninitialize esp_kiss:InitialDive
2019-07-30T19:36:41.247Z,1564515401.247 [esp_kiss:InitialDive:A] Stopped
2019-07-30T19:36:41.247Z,1564515401.247 [esp_kiss:InitialDive:B] Stopped
2019-07-30T19:36:41.247Z,1564515401.247 [esp_kiss:InitialDive:C.Pitch] Stopped
2019-07-30T19:36:41.247Z,1564515401.247 [esp_kiss:InitialDive:D.Point] Stopped
2019-07-30T19:36:41.247Z,1564515401.247 [esp_kiss:InitialDive:E.Buoyancy] Stopped
2019-07-30T19:36:41.248Z,1564515401.247 [esp_kiss:InitialDive:E.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2019-07-30T19:36:41.248Z,1564515401.248 [esp_kiss:SettleAtDepth] Running Loop=1
2019-07-30T19:36:41.248Z,1564515401.248 [esp_kiss:SettleAtDepth](DEBUG): Aggregate::initialize esp_kiss:SettleAtDepth
2019-07-30T19:36:41.248Z,1564515401.248 [esp_kiss:SettleAtDepth:B.Pitch] Running Loop=1
2019-07-30T19:36:41.248Z,1564515401.248 [esp_kiss:SettleAtDepth:B.Pitch](DEBUG): Initialize.
2019-07-30T19:36:41.248Z,1564515401.248 [esp_kiss:SettleAtDepth:A] Running Loop=1
2019-07-30T19:36:41.644Z,1564515401.644 [esp_kiss:SettleAtDepth:B.Pitch] Running Loop=1
2019-07-30T19:36:41.645Z,1564515401.645 [esp_kiss:SettleAtDepth:A](INFO): Reached 2.000000 m , settling for 0.200000 min 
2019-07-30T19:36:41.645Z,1564515401.645 [esp_kiss:SettleAtDepth:A] Stopped
2019-07-30T19:36:41.646Z,1564515401.646 [esp_kiss:SettleAtDepth:C.Wait] Running Loop=1
2019-07-30T19:36:41.646Z,1564515401.646 [esp_kiss:SettleAtDepth:C.Wait](DEBUG): Initialize Wait Component.
2019-07-30T19:36:51.919Z,1564515411.919 [CommandLine](IMPORTANT): got command maintain sensor Depth_Keller.depth 3.000000 meter
2019-07-30T19:36:54.181Z,1564515414.181 [esp_kiss:SettleAtDepth:C.Wait](INFO): Done Waiting.
2019-07-30T19:36:54.181Z,1564515414.181 [esp_kiss:SettleAtDepth:C.Wait] Stopped
2019-07-30T19:36:54.181Z,1564515414.181 [esp_kiss:SettleAtDepth:C.Wait](DEBUG): Uninitialize Wait Component.
2019-07-30T19:36:54.182Z,1564515414.182 [esp_kiss:SettleAtDepth](INFO): Completed esp_kiss:SettleAtDepth
2019-07-30T19:36:54.182Z,1564515414.182 [esp_kiss:SettleAtDepth] Stopped
2019-07-30T19:36:54.182Z,1564515414.182 [esp_kiss:SettleAtDepth](DEBUG): Aggregate::uninitialize esp_kiss:SettleAtDepth
2019-07-30T19:36:54.182Z,1564515414.182 [esp_kiss:SettleAtDepth:B.Pitch] Stopped
2019-07-30T19:36:54.182Z,1564515414.182 [esp_kiss:SampleAtTargetDepth] Running Loop=1
2019-07-30T19:36:54.182Z,1564515414.182 [esp_kiss:SampleAtTargetDepth](DEBUG): Aggregate::initialize esp_kiss:SampleAtTargetDepth
2019-07-30T19:36:54.182Z,1564515414.182 [esp_kiss:SampleAtTargetDepth:A.SetSpeed] Running Loop=1
2019-07-30T19:36:54.182Z,1564515414.182 [esp_kiss:SampleAtTargetDepth:A.SetSpeed](DEBUG): Initialize.
2019-07-30T19:36:54.182Z,1564515414.182 [esp_kiss:SampleAtTargetDepth:B.Pitch] Running Loop=1
2019-07-30T19:36:54.182Z,1564515414.182 [esp_kiss:SampleAtTargetDepth:B.Pitch](DEBUG): Initialize.
2019-07-30T19:36:54.183Z,1564515414.183 [esp_kiss:SampleAtTargetDepth:Spinout] Running Loop=1
2019-07-30T19:36:54.183Z,1564515414.183 [esp_kiss:SampleAtTargetDepth:Spinout](DEBUG): Aggregate::initialize esp_kiss:SampleAtTargetDepth:Spinout
2019-07-30T19:36:54.183Z,1564515414.183 [esp_kiss:SampleAtTargetDepth:Spinout:HoldMassPosition.Pitch] Running Loop=1
2019-07-30T19:36:54.183Z,1564515414.183 [esp_kiss:SampleAtTargetDepth:Spinout:HoldMassPosition.Pitch](DEBUG): Initialize.
2019-07-30T19:36:54.183Z,1564515414.183 [esp_kiss:SampleAtTargetDepth:Spinout:HoldBuoyancyPosition.Buoyancy] Running Loop=1
2019-07-30T19:36:54.183Z,1564515414.183 [esp_kiss:SampleAtTargetDepth:Spinout:HoldBuoyancyPosition.Buoyancy](DEBUG): Initialize Buoyancy Component.
2019-07-30T19:36:54.183Z,1564515414.183 [esp_kiss:SampleAtTargetDepth:Spinout:HoldRudderAngle.Point] Running Loop=1
2019-07-30T19:36:54.183Z,1564515414.183 [esp_kiss:SampleAtTargetDepth:Spinout:HoldRudderAngle.Point](DEBUG): Initialize.
2019-07-30T19:36:54.183Z,1564515414.183 [esp_kiss:SampleAtTargetDepth:GrabSamples] Running Loop=1
2019-07-30T19:36:54.183Z,1564515414.183 [esp_kiss:SampleAtTargetDepth:GrabSamples](DEBUG): Aggregate::initialize esp_kiss:SampleAtTargetDepth:GrabSamples
2019-07-30T19:36:54.184Z,1564515414.184 [esp_kiss:SampleAtTargetDepth:GrabSamples:Sample1] Running Loop=1
2019-07-30T19:36:54.184Z,1564515414.184 [esp_kiss:SampleAtTargetDepth:GrabSamples:Sample1](DEBUG): Aggregate::initialize esp_kiss:SampleAtTargetDepth:GrabSamples:Sample1
2019-07-30T19:36:54.184Z,1564515414.184 [esp_kiss:SampleAtTargetDepth:GrabSamples:Sample1:A] Running Loop=1
2019-07-30T19:36:54.581Z,1564515414.581 [esp_kiss:SampleAtTargetDepth:GrabSamples:Sample1:A] Stopped
2019-07-30T19:36:54.581Z,1564515414.581 [esp_kiss:SampleAtTargetDepth:GrabSamples:Sample1:B] Running Loop=1
2019-07-30T19:36:54.581Z,1564515414.581 [esp_kiss:SampleAtTargetDepth:GrabSamples:Sample1:B](DEBUG): Aggregate::initialize esp_kiss:SampleAtTargetDepth:GrabSamples:Sample1:B
2019-07-30T19:36:54.581Z,1564515414.581 [esp_kiss:SampleAtTargetDepth:Spinout] Stopped
2019-07-30T19:36:54.581Z,1564515414.581 [esp_kiss:SampleAtTargetDepth:Spinout](DEBUG): Aggregate::uninitialize esp_kiss:SampleAtTargetDepth:Spinout
2019-07-30T19:36:54.581Z,1564515414.581 [esp_kiss:SampleAtTargetDepth:Spinout:HoldMassPosition.Pitch] Stopped
2019-07-30T19:36:54.581Z,1564515414.581 [esp_kiss:SampleAtTargetDepth:Spinout:HoldBuoyancyPosition.Buoyancy] Stopped
2019-07-30T19:36:54.582Z,1564515414.582 [esp_kiss:SampleAtTargetDepth:Spinout:HoldBuoyancyPosition.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2019-07-30T19:36:54.582Z,1564515414.582 [esp_kiss:SampleAtTargetDepth:Spinout:HoldRudderAngle.Point] Stopped
2019-07-30T19:36:54.582Z,1564515414.582 [esp_kiss:SampleAtTargetDepth:B.Pitch] Running Loop=1
2019-07-30T19:36:54.582Z,1564515414.582 [esp_kiss:SampleAtTargetDepth:A.SetSpeed] Running Loop=1
2019-07-30T19:36:54.982Z,1564515414.982 [esp_kiss:SampleESP] Running Loop=1
2019-07-30T19:36:54.982Z,1564515414.982 [esp_kiss:SampleESP](DEBUG): Aggregate::initialize esp_kiss:SampleESP
2019-07-30T19:36:54.982Z,1564515414.982 [esp_kiss:SampleESP:sample] Running Loop=1
2019-07-30T19:36:54.982Z,1564515414.982 [esp_kiss:SampleESP:sample](DEBUG): Aggregate::initialize esp_kiss:SampleESP:sample
2019-07-30T19:36:54.983Z,1564515414.983 [esp_kiss:SampleESP:sample:A] Running Loop=1
2019-07-30T19:36:54.983Z,1564515414.983 [esp_kiss:SampleESP:sample:A](IMPORTANT): At 3.000000 m , settling for 3.000000 min 
2019-07-30T19:36:54.983Z,1564515414.983 [esp_kiss:SampleESP:sample:A] Stopped
2019-07-30T19:36:54.984Z,1564515414.984 [esp_kiss:SampleESP:sample:B.Wait] Running Loop=1
2019-07-30T19:36:54.984Z,1564515414.984 [esp_kiss:SampleESP:sample:B.Wait](DEBUG): Initialize Wait Component.
2019-07-30T19:36:58.997Z,1564515418.997 [NAL9602](INFO): Not Powering down - fast GPS
2019-07-30T19:37:30.249Z,1564515450.249 [CommandLine](IMPORTANT): got command stop
2019-07-30T19:37:30.250Z,1564515450.250 [Supervisor](INFO): Stop Mission called by CommandLine::commandStop
2019-07-30T19:37:30.535Z,1564515450.535 [MissionManager](INFO): MissionManager is completed.
2019-07-30T19:37:30.535Z,1564515450.535 [MissionManager](INFO): Uninitializing Mission esp_kiss
2019-07-30T19:37:30.536Z,1564515450.536 [esp_kiss] Stopped
2019-07-30T19:37:30.536Z,1564515450.536 [esp_kiss](DEBUG): Aggregate::uninitialize esp_kiss
2019-07-30T19:37:30.536Z,1564515450.536 [esp_kiss:A.AbortSample] Stopped
2019-07-30T19:37:30.536Z,1564515450.536 [esp_kiss:A.AbortSample](INFO): Uninitializing AbortSample.
2019-07-30T19:37:30.536Z,1564515450.536 [esp_kiss:StandardEnvelopes] Stopped
2019-07-30T19:37:30.536Z,1564515450.536 [esp_kiss:StandardEnvelopes](DEBUG): Aggregate::uninitialize esp_kiss:StandardEnvelopes
2019-07-30T19:37:30.536Z,1564515450.536 [esp_kiss:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2019-07-30T19:37:30.536Z,1564515450.536 [esp_kiss:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2019-07-30T19:37:30.536Z,1564515450.536 [esp_kiss:StandardEnvelopes:B.DepthEnvelope] Stopped
2019-07-30T19:37:30.536Z,1564515450.536 [esp_kiss:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2019-07-30T19:37:30.536Z,1564515450.536 [esp_kiss:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2019-07-30T19:37:30.536Z,1564515450.536 [esp_kiss:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2019-07-30T19:37:30.537Z,1564515450.537 [esp_kiss:I] Stopped
2019-07-30T19:37:30.537Z,1564515450.537 [esp_kiss:SampleESP] Stopped
2019-07-30T19:37:30.537Z,1564515450.537 [esp_kiss:SampleESP](DEBUG): Aggregate::uninitialize esp_kiss:SampleESP
2019-07-30T19:37:30.537Z,1564515450.537 [esp_kiss:SampleESP:sample] Stopped
2019-07-30T19:37:30.537Z,1564515450.537 [esp_kiss:SampleESP:sample](DEBUG): Aggregate::uninitialize esp_kiss:SampleESP:sample
2019-07-30T19:37:30.537Z,1564515450.537 [esp_kiss:SampleESP:sample:B.Wait] Stopped
2019-07-30T19:37:30.537Z,1564515450.537 [esp_kiss:SampleESP:sample:B.Wait](DEBUG): Uninitialize Wait Component.
2019-07-30T19:37:30.537Z,1564515450.537 [esp_kiss:Science] Stopped
2019-07-30T19:37:30.537Z,1564515450.537 [esp_kiss:Science](DEBUG): Aggregate::uninitialize esp_kiss:Science
2019-07-30T19:37:30.537Z,1564515450.537 [esp_kiss:SampleAtTargetDepth] Stopped
2019-07-30T19:37:30.538Z,1564515450.538 [esp_kiss:SampleAtTargetDepth](DEBUG): Aggregate::uninitialize esp_kiss:SampleAtTargetDepth
2019-07-30T19:37:30.538Z,1564515450.538 [esp_kiss:SampleAtTargetDepth:A.SetSpeed] Stopped
2019-07-30T19:37:30.538Z,1564515450.538 [esp_kiss:SampleAtTargetDepth:A.SetSpeed](DEBUG): Uninitialize.
2019-07-30T19:37:30.538Z,1564515450.538 [esp_kiss:SampleAtTargetDepth:B.Pitch] Stopped
2019-07-30T19:37:30.538Z,1564515450.538 [esp_kiss:SampleAtTargetDepth:GrabSamples] Stopped
2019-07-30T19:37:30.538Z,1564515450.538 [esp_kiss:SampleAtTargetDepth:GrabSamples](DEBUG): Aggregate::uninitialize esp_kiss:SampleAtTargetDepth:GrabSamples
2019-07-30T19:37:30.538Z,1564515450.538 [esp_kiss:SampleAtTargetDepth:GrabSamples:Sample1] Stopped
2019-07-30T19:37:30.538Z,1564515450.538 [esp_kiss:SampleAtTargetDepth:GrabSamples:Sample1](DEBUG): Aggregate::uninitialize esp_kiss:SampleAtTargetDepth:GrabSamples:Sample1
2019-07-30T19:37:30.538Z,1564515450.538 [esp_kiss:SampleAtTargetDepth:GrabSamples:Sample1:B] Stopped
2019-07-30T19:37:30.538Z,1564515450.538 [esp_kiss:SampleAtTargetDepth:GrabSamples:Sample1:B](DEBUG): Aggregate::uninitialize esp_kiss:SampleAtTargetDepth:GrabSamples:Sample1:B
2019-07-30T19:37:30.931Z,1564515450.931 [MissionManager](IMPORTANT): Started mission Default
2019-07-30T19:37:30.931Z,1564515450.931 [Default] Running Loop=1
2019-07-30T19:37:30.932Z,1564515450.932 [Default](DEBUG): Aggregate::initialize Default
2019-07-30T19:37:30.932Z,1564515450.932 [Default:B.GoToSurface] Running Loop=1
2019-07-30T19:37:30.932Z,1564515450.932 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-07-30T19:37:30.932Z,1564515450.932 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2019-07-30T19:37:30.932Z,1564515450.932 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2019-07-30T19:37:30.933Z,1564515450.933 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2019-07-30T19:37:30.933Z,1564515450.933 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-07-30T19:37:30.934Z,1564515450.934 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-07-30T19:37:30.934Z,1564515450.934 [Default:A.Wait] Running Loop=1
2019-07-30T19:37:30.934Z,1564515450.934 [Default:A.Wait](DEBUG): Initialize Wait Component.
2019-07-30T19:37:44.352Z,1564515464.352 [Default:A.Wait](INFO): Done Waiting.
2019-07-30T19:37:44.352Z,1564515464.352 [Default:A.Wait] Stopped
2019-07-30T19:37:44.352Z,1564515464.352 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2019-07-30T19:38:13.832Z,1564515493.832 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-07-30T19:38:13.832Z,1564515493.832 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 1
2019-07-30T19:38:13.832Z,1564515493.832 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-07-30T19:38:13.869Z,1564515493.869 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-07-30T19:38:14.289Z,1564515494.289 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-07-30T19:38:14.289Z,1564515494.289 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 1
2019-07-30T19:40:15.029Z,1564515615.029 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-07-30T19:40:15.029Z,1564515615.029 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 2
2019-07-30T19:40:15.029Z,1564515615.029 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-07-30T19:40:15.040Z,1564515615.040 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-07-30T19:40:15.473Z,1564515615.473 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-07-30T19:40:15.473Z,1564515615.473 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 2
2019-07-30T19:41:35.927Z,1564515695.927 [CommandLine](IMPORTANT): got command run ./Missions/Science/esp_kiss.xml
2019-07-30T19:41:35.927Z,1564515695.927 [MissionManager](INFO): Loading Mission: ./Missions/Science/esp_kiss.xml
2019-07-30T19:41:36.088Z,1564515696.088 [MissionManager](INFO): DefineArg esp_kiss.MissionTimeout = 4.000000 h
2019-07-30T19:41:36.091Z,1564515696.091 [MissionManager](INFO): DefineArg esp_kiss.TargetDepth = 3.000000 m
2019-07-30T19:41:36.093Z,1564515696.093 [MissionManager](INFO): DefineArg esp_kiss.ESPCartridgeType_1 = -4.000000 count
2019-07-30T19:41:36.095Z,1564515696.095 [MissionManager](INFO): DefineArg esp_kiss.ESPCartridgeType_2 = -9.000000 count
2019-07-30T19:41:36.097Z,1564515696.097 [MissionManager](INFO): DefineArg esp_kiss.ESPCartridgeType_3 = nan count
2019-07-30T19:41:36.099Z,1564515696.099 [MissionManager](INFO): DefineArg esp_kiss.ESPCartridgeType_4 = nan count
2019-07-30T19:41:36.101Z,1564515696.101 [MissionManager](INFO): DefineArg esp_kiss.SettleTime = 3.000000 min
2019-07-30T19:41:36.104Z,1564515696.104 [MissionManager](INFO): DefineArg esp_kiss.Speed = 0.000000 m/s
2019-07-30T19:41:36.106Z,1564515696.106 [MissionManager](INFO): DefineArg esp_kiss.ApproachDepth = 2.000000 m
2019-07-30T19:41:36.108Z,1564515696.108 [MissionManager](INFO): DefineArg esp_kiss.ApproachSpeed = 0.700000 m/s
2019-07-30T19:41:36.110Z,1564515696.110 [MissionManager](INFO): DefineArg esp_kiss.ApproachDepthRate = 0.050000 m/s
2019-07-30T19:41:36.112Z,1564515696.112 [MissionManager](INFO): DefineArg esp_kiss.ApproachPitchLimit = 10.000000 arcdeg
2019-07-30T19:41:36.114Z,1564515696.114 [MissionManager](INFO): DefineArg esp_kiss.ApproachSettleTimePreDive = 0.200000 min
2019-07-30T19:41:36.117Z,1564515696.117 [MissionManager](INFO): DefineArg esp_kiss.ApproachSettleTimePostDive = 0.200000 min
2019-07-30T19:41:36.119Z,1564515696.119 [MissionManager](INFO): DefineArg esp_kiss.ApproachDepthTimeout = 15.000000 min
2019-07-30T19:41:36.121Z,1564515696.121 [MissionManager](INFO): DefineArg esp_kiss.kpDepth = 0.070000 rad/m
2019-07-30T19:41:36.123Z,1564515696.123 [MissionManager](INFO): DefineArg esp_kiss.DepthDeadband = 0.010000 m
2019-07-30T19:41:36.125Z,1564515696.125 [MissionManager](INFO): DefineArg esp_kiss.MinAltitude = 2.000000 m
2019-07-30T19:41:36.127Z,1564515696.127 [MissionManager](INFO): DefineArg esp_kiss.MaxDepth = 5.000000 m
2019-07-30T19:41:36.130Z,1564515696.130 [MissionManager](INFO): DefineArg esp_kiss.MinOffshore = 1.000000 km
2019-07-30T19:41:36.132Z,1564515696.132 [MissionManager](INFO): DefineOutput esp_kiss.ESPCartridgeType = nan count
2019-07-30T19:41:36.133Z,1564515696.133 [esp_kiss:A.AbortSample](DEBUG): Construct.
2019-07-30T19:41:36.134Z,1564515696.134 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml
2019-07-30T19:41:36.244Z,1564515696.244 [MissionManager](INFO): DefineArg esp_kiss:StandardEnvelopes.MinAltitude = 5.000000 m
2019-07-30T19:41:36.246Z,1564515696.246 [MissionManager](INFO): DefineArg esp_kiss:StandardEnvelopes.MaxDepth = 200.000000 m
2019-07-30T19:41:36.254Z,1564515696.254 [MissionManager](INFO): DefineArg esp_kiss:StandardEnvelopes.MinOffshore = 2000.000000 m
2019-07-30T19:41:36.255Z,1564515696.255 [esp_kiss:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2019-07-30T19:41:36.260Z,1564515696.260 [esp_kiss:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2019-07-30T19:41:36.297Z,1564515696.297 [esp_kiss:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2019-07-30T19:41:36.322Z,1564515696.322 [MissionManager](INFO): Inserting Stack: Missions/Insert/NeedComms.xml
2019-07-30T19:41:36.446Z,1564515696.446 [MissionManager](INFO): DefineArg esp_kiss:NeedComms.DiveInterval = 3.000000 h
2019-07-30T19:41:36.452Z,1564515696.452 [MissionManager](INFO): DefineArg esp_kiss:NeedComms.WaitForPitchUp = 10.000000 min
2019-07-30T19:41:36.459Z,1564515696.459 [MissionManager](INFO): DefineArg esp_kiss:NeedComms.SurfacePitch = 20.000000 arcdeg
2019-07-30T19:41:36.465Z,1564515696.465 [MissionManager](INFO): DefineArg esp_kiss:NeedComms.SurfaceDepthRate = nan m/s
2019-07-30T19:41:36.467Z,1564515696.467 [MissionManager](INFO): DefineArg esp_kiss:NeedComms.SurfaceSpeed = 1.000000 m/s
2019-07-30T19:41:36.481Z,1564515696.481 [MissionManager](INFO): DefineArg esp_kiss:NeedComms.GPSTimeout = 7.000000 min
2019-07-30T19:41:36.483Z,1564515696.483 [MissionManager](INFO): DefineArg esp_kiss:NeedComms.CommsTimeout = 30.000000 min
2019-07-30T19:41:36.501Z,1564515696.501 [esp_kiss:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2019-07-30T19:41:36.544Z,1564515696.544 [esp_kiss:SampleESP:sample:B.Wait](DEBUG): Construct Wait.
2019-07-30T19:41:36.566Z,1564515696.566 [MissionManager](ERROR): Slate does not contain CTD_NeilBrown.bin_mean_sea_water_temperature
2019-07-30T19:41:36.566Z,1564515696.566 [MissionManager](ERROR): Slate does not contain celsius
2019-07-30T19:41:36.567Z,1564515696.567 [MissionManager](ERROR): Slate does not contain WetLabsBB2FL.bin_mean_mass_concentration_of_chlorophyll_in_sea_water
2019-07-30T19:41:36.567Z,1564515696.567 [MissionManager](ERROR): Slate does not contain microgram_per_liter
2019-07-30T19:41:36.569Z,1564515696.569 [MissionManager](INFO): Inserting Stack: Missions/Insert/Science.xml
2019-07-30T19:41:36.873Z,1564515696.873 [MissionManager](INFO): DefineArg esp_kiss:Science.SampleISUS = 0 bool
2019-07-30T19:41:36.875Z,1564515696.875 [MissionManager](INFO): DefineArg esp_kiss:Science.SampleISUSmaxPitch = 60.000000 arcdeg
2019-07-30T19:41:36.878Z,1564515696.878 [MissionManager](INFO): DefineArg esp_kiss:Science.SampleISUSminPitch = -60.000000 arcdeg
2019-07-30T19:41:36.879Z,1564515696.879 [MissionManager](INFO): DefineArg esp_kiss:Science.PeakDetectChlActive = 0 bool
2019-07-30T19:41:36.882Z,1564515696.882 [MissionManager](INFO): DefineArg esp_kiss:Science.TimeWindowPeakReport = nan min
2019-07-30T19:41:36.884Z,1564515696.884 [MissionManager](INFO): DefineArg esp_kiss:Science.HighestChlPeakReportActive = 0 bool
2019-07-30T19:41:36.886Z,1564515696.886 [MissionManager](INFO): DefineArg esp_kiss:Science.PatchTracking = 0 bool
2019-07-30T19:41:36.888Z,1564515696.888 [MissionManager](INFO): DefineArg esp_kiss:Science.FilterWidthHorizontal = 3.000000 count
2019-07-30T19:41:36.891Z,1564515696.891 [MissionManager](INFO): DefineArg esp_kiss:Science.NumProfilesSlidingwindow = 100.000000 count
2019-07-30T19:41:36.893Z,1564515696.893 [MissionManager](INFO): DefineArg esp_kiss:Science.OffPeakFractionHorizontal = 80.000000 %
2019-07-30T19:41:36.895Z,1564515696.895 [MissionManager](INFO): DefineArg esp_kiss:Science.PeakDetectNO3Active = 0 bool
2019-07-30T19:41:36.897Z,1564515696.897 [MissionManager](INFO): DefineArg esp_kiss:Science.PeakDetectOilActive = 0 bool
2019-07-30T19:41:36.899Z,1564515696.899 [MissionManager](INFO): DefineArg esp_kiss:Science.PeakDetectFDOMActive = 0 bool
2019-07-30T19:41:36.901Z,1564515696.901 [MissionManager](INFO): DefineArg esp_kiss:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2019-07-30T19:41:36.904Z,1564515696.904 [MissionManager](INFO): DefineArg esp_kiss:Science.EnabledAanderaaO2 = 0.000000 bool
2019-07-30T19:41:36.937Z,1564515696.937 [MissionManager](INFO): DefineArg esp_kiss:Science.EnabledNeilBrown = 0.000000 bool
2019-07-30T19:41:36.939Z,1564515696.939 [MissionManager](INFO): DefineArg esp_kiss:Science.EnabledSeabird = 0.000000 bool
2019-07-30T19:41:36.959Z,1564515696.959 [MissionManager](INFO): DefineArg esp_kiss:Science.EnabledTurbulence_NPS = 0.000000 bool
2019-07-30T19:41:36.978Z,1564515696.978 [MissionManager](INFO): DefineArg esp_kiss:Science.EnabledWetLabsBB2FL = 0.000000 bool
2019-07-30T19:41:36.980Z,1564515696.980 [MissionManager](INFO): DefineArg esp_kiss:Science.EnabledWetLabsSeaOWL_UV_A = 0.000000 bool
2019-07-30T19:41:36.983Z,1564515696.983 [MissionManager](INFO): DefineArg esp_kiss:Science.EnabledWetLabsUBAT = 0.000000 bool
2019-07-30T19:41:36.989Z,1564515696.989 [MissionManager](INFO): DefineArg esp_kiss:Science.EnabledISUS = 0.000000 bool
2019-07-30T19:41:36.991Z,1564515696.991 [MissionManager](INFO): DefineArg esp_kiss:Science.LowPassWindowLength = 20.000000 count
2019-07-30T19:41:36.994Z,1564515696.994 [MissionManager](INFO): DefineArg esp_kiss:Science.MedianFilterLen = 5.000000 count
2019-07-30T19:41:36.996Z,1564515696.996 [MissionManager](INFO): DefineArg esp_kiss:Science.PeakChlShallowBound = nan m
2019-07-30T19:41:37.004Z,1564515697.004 [MissionManager](INFO): DefineArg esp_kiss:Science.PeakChlDeepBound = nan m
2019-07-30T19:41:37.050Z,1564515697.050 [MissionManager](INFO): DefineArg esp_kiss:Science.PeakShallowBound = nan m
2019-07-30T19:41:37.052Z,1564515697.052 [MissionManager](INFO): DefineArg esp_kiss:Science.PeakDeepBound = nan m
2019-07-30T19:41:37.073Z,1564515697.073 [MissionManager](INFO): DefineOutput esp_kiss:Science.PeakChl = 0.000000 ug/l
2019-07-30T19:41:37.076Z,1564515697.076 [MissionManager](INFO): DefineOutput esp_kiss:Science.PeakChlDepth = 0.000000 m
2019-07-30T19:41:37.086Z,1564515697.086 [MissionManager](INFO): DefineOutput esp_kiss:Science.PeakChlTemperature = 0.000000 degC
2019-07-30T19:41:37.089Z,1564515697.089 [MissionManager](INFO): DefineOutput esp_kiss:Science.PeakChlLatitude = nan arcdeg
2019-07-30T19:41:37.092Z,1564515697.092 [MissionManager](INFO): DefineOutput esp_kiss:Science.PeakChlLongitude = nan arcdeg
2019-07-30T19:41:37.100Z,1564515697.100 [MissionManager](INFO): DefineOutput esp_kiss:Science.PeakNO3 = 0.000000 umol/l
2019-07-30T19:41:37.114Z,1564515697.114 [MissionManager](INFO): DefineOutput esp_kiss:Science.PeakNO3Depth = 0.000000 m
2019-07-30T19:41:37.117Z,1564515697.117 [MissionManager](INFO): DefineOutput esp_kiss:Science.PeakNO3Latitude = nan arcdeg
2019-07-30T19:41:37.122Z,1564515697.122 [MissionManager](INFO): DefineOutput esp_kiss:Science.PeakNO3Longitude = nan arcdeg
2019-07-30T19:41:37.125Z,1564515697.125 [MissionManager](INFO): DefineOutput esp_kiss:Science.PatchChl = 0.000000 m
2019-07-30T19:41:37.136Z,1564515697.136 [MissionManager](INFO): DefineOutput esp_kiss:Science.PatchChlDepth = 0.000000 m
2019-07-30T19:41:37.147Z,1564515697.147 [MissionManager](INFO): DefineOutput esp_kiss:Science.PatchChlLatitude = nan arcdeg
2019-07-30T19:41:37.157Z,1564515697.157 [MissionManager](INFO): DefineOutput esp_kiss:Science.PatchChlLongitude = nan arcdeg
2019-07-30T19:41:37.167Z,1564515697.167 [MissionManager](INFO): DefineOutput esp_kiss:Science.PatchChlDistance = nan m
2019-07-30T19:41:37.170Z,1564515697.170 [MissionManager](INFO): DefineOutput esp_kiss:Science.PeakOil = 0.000000 kg/m3
2019-07-30T19:41:37.172Z,1564515697.172 [MissionManager](INFO): DefineOutput esp_kiss:Science.PeakOilDepth = 0.000000 m
2019-07-30T19:41:37.199Z,1564515697.199 [MissionManager](INFO): DefineOutput esp_kiss:Science.PeakOilLatitude = nan arcdeg
2019-07-30T19:41:37.202Z,1564515697.202 [MissionManager](INFO): DefineOutput esp_kiss:Science.PeakOilLongitude = nan arcdeg
2019-07-30T19:41:37.204Z,1564515697.204 [MissionManager](INFO): DefineOutput esp_kiss:Science.PeakFDOM = 0.000000 ppb
2019-07-30T19:41:37.206Z,1564515697.206 [MissionManager](INFO): DefineOutput esp_kiss:Science.PeakFDOMDepth = 0.000000 m
2019-07-30T19:41:37.219Z,1564515697.219 [MissionManager](INFO): DefineOutput esp_kiss:Science.PeakFDOMLatitude = nan arcdeg
2019-07-30T19:41:37.222Z,1564515697.222 [MissionManager](INFO): DefineOutput esp_kiss:Science.PeakFDOMLongitude = nan arcdeg
2019-07-30T19:41:37.224Z,1564515697.224 [MissionManager](INFO): DefineOutput esp_kiss:Science.PatchFDOMDistance = nan m
2019-07-30T19:41:37.261Z,1564515697.261 [esp_kiss:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2019-07-30T19:41:37.288Z,1564515697.288 [esp_kiss:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2019-07-30T19:41:37.320Z,1564515697.320 [esp_kiss:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2019-07-30T19:41:37.357Z,1564515697.357 [esp_kiss:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2019-07-30T19:41:37.386Z,1564515697.386 [esp_kiss:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2019-07-30T19:41:37.453Z,1564515697.453 [esp_kiss:InitialDive:C.Pitch](DEBUG): Construct.
2019-07-30T19:41:37.484Z,1564515697.484 [esp_kiss:InitialDive:D.Point](DEBUG): Construct.
2019-07-30T19:41:37.489Z,1564515697.489 [esp_kiss:InitialDive:E.Buoyancy](DEBUG): Construct Buoyancy.
2019-07-30T19:41:37.508Z,1564515697.508 [esp_kiss:InitialDive:G.Wait](DEBUG): Construct Wait.
2019-07-30T19:41:37.511Z,1564515697.511 [esp_kiss:InitialDive:ApproachDepth:A.SetSpeed](DEBUG): Construct.
2019-07-30T19:41:37.514Z,1564515697.514 [esp_kiss:InitialDive:ApproachDepth:B.Pitch](DEBUG): Construct.
2019-07-30T19:41:37.550Z,1564515697.550 [esp_kiss:InitialDive:ApproachDepth:B.Pitch:A_Timeout:B.Execute](DEBUG): Construct Execute.
2019-07-30T19:41:37.555Z,1564515697.555 [esp_kiss:SettleAtDepth:B.Pitch](DEBUG): Construct.
2019-07-30T19:41:37.558Z,1564515697.558 [esp_kiss:SettleAtDepth:C.Wait](DEBUG): Construct Wait.
2019-07-30T19:41:37.560Z,1564515697.560 [esp_kiss:SampleAtTargetDepth:A.SetSpeed](DEBUG): Construct.
2019-07-30T19:41:37.580Z,1564515697.580 [esp_kiss:SampleAtTargetDepth:B.Pitch](DEBUG): Construct.
2019-07-30T19:41:37.601Z,1564515697.601 [esp_kiss:SampleAtTargetDepth:Spinout:HoldMassPosition.Pitch](DEBUG): Construct.
2019-07-30T19:41:37.616Z,1564515697.616 [esp_kiss:SampleAtTargetDepth:Spinout:HoldBuoyancyPosition.Buoyancy](DEBUG): Construct Buoyancy.
2019-07-30T19:41:37.629Z,1564515697.629 [esp_kiss:SampleAtTargetDepth:Spinout:HoldRudderAngle.Point](DEBUG): Construct.
2019-07-30T19:41:37.749Z,1564515697.749 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>

<Mission xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
         xmlns="Tethys"
         xmlns:Units="Tethys/Units"
         xmlns:Guidance="Tethys/Guidance"
         xmlns:Control="Tethys/Control"
         xsi:schemaLocation="Tethys http://okeanids.mbari.org/tethys/Xml/Tethys.xsd
                             Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd
                             Tethys/Guidance http://okeanids.mbari.org/tethys/Xml/Guidance.xsd
                             Tethys/Control http://okeanids.mbari.org/tethys/Xml/Control.xsd
                             Tethys/Science http://okeanids.mbari.org/tethys/Xml/Science.xsd"
       Id="esp_kiss">

    <Description>
        This mission takes ESP samples at the designated depth.
    </Description>

    <DefineArg Name="MissionTimeout"><Description>
        Maximum duration of mission.
    </Description><Units:hour/><Value>4</Value></DefineArg>

    <DefineArg Name="TargetDepth"><Description>
        Depth to sample at. Initialized to 3 m.
    </Description><Units:meter/><Value>3</Value></DefineArg>

    <DefineArg Name="ESPCartridgeType_1"><Description>
        Specifies ESP cartridge type code for sample# 1. Set to NaN to skip this sample.
    </Description><Units:count/><Value>-4</Value></DefineArg>

    <DefineArg Name="ESPCartridgeType_2"><Description>
        Specifies ESP cartridge type code for sample# 2. Set to NaN to skip this sample.
    </Description><Units:count/><Value>-9</Value></DefineArg>

    <DefineArg Name="ESPCartridgeType_3"><Description>
        Specifies ESP cartridge type code for sample# 3. Set to NaN to skip this sample.
    </Description><Units:count/><Value>NaN</Value></DefineArg>

    <DefineArg Name="ESPCartridgeType_4"><Description>
        Specifies ESP cartridge type code for sample# 4. Set to NaN to skip this sample.
    </Description><Units:count/><Value>NaN</Value></DefineArg>

    <DefineArg Name="SettleTime"><Description>
        How long to wait between samples. This starts *before* the first sample.
    </Description><Units:minute/><Value>3</Value></DefineArg>

    <DefineArg Name="Speed"><Description>
        Vehicle speed while sampling. Set to zero to maintain depth using VBS (drift).
    </Description><Units:meter_per_second/><Value>0</Value></DefineArg>

    <DefineArg Name="ApproachDepth"><Description>
        Depth for initial descent form the surface. Initialized to 3 m.
    </Description><Units:meter/><Value>2</Value></DefineArg>

    <DefineArg Name="ApproachSpeed"><Description>
        Vehicle speed for initial descent form the surface to target depth. Set to zero
        to disable the thruster and descend using VBS (drift).
    </Description><Units:meter_per_second/><Value>0.7</Value></DefineArg>

    <DefineArg Name="ApproachDepthRate"><Description>
        Descent depth rate (Positive depth rate means going down).
    </Description><Units:meter_per_second/><Value>0.05</Value></DefineArg>

    <DefineArg Name="ApproachPitchLimit"><Description>
        Max vehicle pitch (+/-) when decending from the surface.
    </Description><Units:degree/><Value>10</Value></DefineArg>

    <DefineArg Name="ApproachSettleTimePreDive"><Description>
        Time duration for the vehicle to pump down the VBS *BEFORE* leaving the surface.
    </Description><Units:minute/><Value>0.2</Value></DefineArg>

    <DefineArg Name="ApproachSettleTimePostDive"><Description>
        Time duration for the vehicle to settele *AFTER* reaching the target depth.
    </Description><Units:minute/><Value>0.2</Value></DefineArg>

    <DefineArg Name="ApproachDepthTimeout"><Description>
        Maximum time duration for the vehicle to reach the target depth.
    </Description><Units:minute/><Value>15</Value></DefineArg>

    <DefineArg Name="kpDepth"><Description>
        Dive loop proportional gain (applied only while the vehicle is descending to target depth).
    </Description><Units:radian_per_meter/><Value>0.07</Value></DefineArg>

    <DefineArg Name="DepthDeadband"><Description>
        How much vertical drift from the specified depth is allowed while sampling.
    </Description><Units:meter/><Value>0.01</Value></DefineArg>

    <DefineArg Name="MinAltitude"><Description>
        Minimum height above the sea floor for the entire mission.
    </Description><Units:meter/><Value>2</Value></DefineArg>

    <DefineArg Name="MaxDepth"><Description>
        Maximum allowable depth during the mission.
    </Description><Units:meter/><Value>5</Value></DefineArg>

    <DefineArg Name="MinOffshore"><Description>
        Minimum distance from the shoreline to maintain.
    </Description><Units:kilometer/><Value>1</Value></DefineArg>

    <DefineOutput Name="ESPCartridgeType"><Description>
        Mission parameter (don't change). Specifies ESP cartridge type code.
    </Description><Units:count/><Value>NaN</Value></DefineOutput>
    
    <!-- Mission timeout -->

    <Timeout Duration="MissionTimeout"/>

    <!-- Safety nets and surfacing behaviors -->

    <Trigger:AbortSample>
        <Parallel/>
    </Trigger:AbortSample>

    <Insert Filename="Insert/StandardEnvelopes.xml"/>

    <Assign><Sequence/><Arg Name="StandardEnvelopes:MaxDepth"/><Arg Name="MaxDepth"/></Assign>

    <Assign><Sequence/><Arg Name="StandardEnvelopes:MinAltitude"/><Arg Name="MinAltitude"/></Assign>

    <Assign><Sequence/><Arg Name="StandardEnvelopes:MinOffshore"/><Arg Name="MinOffshore"/></Assign>


    <Insert Filename="Insert/NeedComms.xml" Id="NeedComms"/>

    <Assign><Sequence/><Arg Name="NeedComms:DiveInterval"/><Arg Name="MissionTimeout"/></Assign>

    <Assign><Sequence/><Arg Name="NeedComms:WaitForPitchUp"/><Units:minute/><Value>0</Value></Assign>


    <Assign><Parallel/><Control:VerticalControl.depthDeadband/><Arg Name="DepthDeadband"/></Assign>

        
    <!-- Callable aggregate -->

    <Aggregate Id="SampleESP">
        
        <When>
            <Called/>
        </When>

        <Aggregate Id="sample">
            <Sequence/>

            <Syslog Severity="Important">At <Universal:depth/><Units:meter/>, settling for <Arg Name="SettleTime"/><Units:minute/></Syslog>

            <Guidance:Wait>
                <Sequence/>
                <Setting><Guidance:Wait.duration/><Arg Name="SettleTime"/></Setting>
            </Guidance:Wait>

            <Syslog Severity="Important">Requesting ESP cartridge type:<Arg Name="ESPCartridgeType"/><Units:count/></Syslog>

            <Assign><Sequence/><Science:ESPComponent.cartridge/><Arg Name="ESPCartridgeType"/></Assign>

            <ReadDatum Id="TriggerESP">
                <Science:ESPComponent.sampling/>
            </ReadDatum>

            <Syslog Severity="Important">ESP sampling at <Universal:depth/><Units:meter/> in <Science:CTD_NeilBrown.bin_mean_sea_water_temperature/><Units:celsius/> water with <Science:WetLabsBB2FL.bin_mean_mass_concentration_of_chlorophyll_in_sea_water/><Units:microgram_per_liter/>chlorophyll fluorescence.</Syslog>

            <ReadDatum Id="WaitForESP">
                <Science:ESPComponent.sample_number/>
            </ReadDatum>
        </Aggregate>

    </Aggregate>


    <!-- Start mission sequence -->

    <Call Id="StartingMission" RefId="NeedComms"/>
    
    <Insert Filename="Insert/Science.xml"></Insert>

    <Aggregate Id="InitialDive">
        <Description>
            Descend from the surface to approach depth at ApproachSpeed, limit pitch,
            depth-rate, and hold the rudder.
        </Description>

        <Sequence/>

        <Assign><Parallel/><Control:VerticalControl.pitchLimit/><Arg Name="ApproachPitchLimit"/></Assign>

        <Assign><Parallel/><Control:VerticalControl.kpDepth/><Arg Name="kpDepth"/></Assign>

        <Guidance:Pitch>
            <Parallel/>
            <Setting><Guidance:Pitch.massPosition/><Control:VerticalControl.massDefault/></Setting>
        </Guidance:Pitch>

        <Guidance:Point>
            <Parallel/>
            <Setting><Guidance:Point.rudderAngle/><Units:degree/><Value>13</Value></Setting>
        </Guidance:Point>
        
        <Guidance:Buoyancy>
            <Parallel/>
            <Setting><Guidance:Buoyancy.position/><Control:VerticalControl.buoyancyNeutral/></Setting>
        </Guidance:Buoyancy>

        <Syslog Severity="Info">Waiting for <Arg Name="ApproachSettleTimePreDive"/><Units:minute/>while pumping down to neutral.</Syslog>

        <Guidance:Wait>
            <Description>Take a few moments to ensure the VBS reaches neutral.</Description>
            <Sequence/>
            <Setting><Guidance:Wait.duration/><Arg Name="ApproachSettleTimePreDive"/></Setting>
        </Guidance:Wait>

        <Syslog>Moving to <Arg Name="ApproachDepth"/><Units:meter/></Syslog>

        <Aggregate Id="ApproachDepth">

            <Sequence/>

            <Guidance:SetSpeed>
                <Parallel/>
                <Setting><Guidance:SetSpeed.speed/><Arg Name="ApproachSpeed"/></Setting>
            </Guidance:SetSpeed>

            <Guidance:Pitch>
                <Sequence/>

                <Timeout Duration="ApproachDepthTimeout">
                    <Syslog Severity="Important">Timed out while trying to reach target depth at current depth of <Universal:depth/><Units:meter/>.</Syslog>
                    <Guidance:Execute>
                        <Sequence/>
                        <Setting><Guidance:Execute.command/><String>stop</String></Setting>
                    </Guidance:Execute>
                </Timeout>

                <Setting><Guidance:Pitch.depth/><Arg Name="ApproachDepth"/></Setting>
                <Setting><Guidance:Pitch.depthRate/><Arg Name="ApproachDepthRate"/></Setting>
            </Guidance:Pitch>

        </Aggregate>

    </Aggregate>

    <Aggregate Id="SettleAtDepth">
        <Description>
            Take a few more moments here to ensure the vechile is settled at the target depth.
        </Description>

        <Sequence/>

        <Syslog Severity="Info">Reached <Universal:depth/><Units:meter/>, settling for <Arg Name="ApproachSettleTimePostDive"/><Units:minute/></Syslog>

        <Guidance:Pitch>
            <Parallel/>
            <Setting><Guidance:Pitch.depth/><Arg Name="TargetDepth"/></Setting>
        </Guidance:Pitch>

        <Guidance:Wait>
            <Sequence/>
            <Setting><Guidance:Wait.duration/><Arg Name="ApproachSettleTimePostDive"/></Setting>
        </Guidance:Wait>

    </Aggregate>

    <Aggregate Id="SampleAtTargetDepth">
        <Description>
            Maintain target depth and acquire ESP samples.
        </Description>

        <Sequence/>

        <Guidance:SetSpeed>
            <Parallel/>
            <Setting><Guidance:SetSpeed.speed/><Arg Name="Speed"/></Setting>
        </Guidance:SetSpeed>

        <Guidance:Pitch>
            <Parallel/>
            <Setting><Guidance:Pitch.depth/><Arg Name="TargetDepth"/></Setting>
        </Guidance:Pitch>
        
        <Aggregate Id="Spinout">
            <Description>
                A speed has been specified, spin in circels while sampling.
            </Description>
            
            <While>
                <Arg Name="Speed"/><Gt><Units:meter_per_second/><Value>0.0</Value></Gt>
            </While>
            
            <Guidance:Pitch Id="HoldMassPosition">
                <Parallel/>
                <Setting><Guidance:Pitch.massPosition/><Control:VerticalControl.massDefault/></Setting>
            </Guidance:Pitch>
            
            <Guidance:Buoyancy Id="HoldBuoyancyPosition">
                <Parallel/>
                <Setting><Guidance:Buoyancy.position/><Control:VerticalControl.buoyancyNeutral/></Setting>
            </Guidance:Buoyancy>

            <Guidance:Point Id="HoldRudderAngle">
                <Setting><Guidance:Point.rudderAngle/><Units:degree/><Value>13</Value></Setting>
            </Guidance:Point>

        </Aggregate>

        <Aggregate Id="GrabSamples">

            <Sequence/>

            <Aggregate Id="Sample1">
                <Break>
                    <IsNaN><Arg Name="ESPCartridgeType_1"/></IsNaN>
                </Break>

                <Assign><Sequence/><Arg Name="ESPCartridgeType"/><Arg Name="ESPCartridgeType_1"/></Assign>

                <Call RefId="SampleESP"/>
            </Aggregate>


            <Aggregate Id="Sample2">
                <Break>
                    <IsNaN><Arg Name="ESPCartridgeType_2"/></IsNaN>
                </Break>

                <Assign><Sequence/><Arg Name="ESPCartridgeType"/><Arg Name="ESPCartridgeType_2"/></Assign>

                <Call RefId="SampleESP"/>
            </Aggregate>


            <Aggregate Id="Sample3">
                <Break>
                    <IsNaN><Arg Name="ESPCartridgeType_3"/></IsNaN>
                </Break>
                
                <Assign><Sequence/><Arg Name="ESPCartridgeType"/><Arg Name="ESPCartridgeType_3"/></Assign>
                
                <Call RefId="SampleESP"/>
            </Aggregate>


            <Aggregate Id="Sample4">
                <Break>
                    <IsNaN><Arg Name="ESPCartridgeType_4"/></IsNaN>
                </Break>

                <Assign><Sequence/><Arg Name="ESPCartridgeType"/><Arg Name="ESPCartridgeType_4"/></Assign>

                <Call RefId="SampleESP"/>
            </Aggregate>

        </Aggregate>

    </Aggregate>

</Mission>


2019-07-30T19:41:37.751Z,1564515697.751 [CommandLine](IMPORTANT): Running ./Missions/Science/esp_kiss.xml
2019-07-30T19:41:37.848Z,1564515697.848 [Default] Stopped
2019-07-30T19:41:37.848Z,1564515697.848 [Default](DEBUG): Aggregate::uninitialize Default
2019-07-30T19:41:37.848Z,1564515697.848 [Default:B.GoToSurface] Stopped
2019-07-30T19:41:37.848Z,1564515697.848 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-07-30T19:41:37.849Z,1564515697.849 [MissionManager](IMPORTANT): Started mission esp_kiss
2019-07-30T19:41:37.849Z,1564515697.849 [esp_kiss] Running Loop=1
2019-07-30T19:41:37.849Z,1564515697.849 [esp_kiss](DEBUG): Aggregate::initialize esp_kiss
2019-07-30T19:41:37.849Z,1564515697.849 [esp_kiss:A.AbortSample] Running Loop=1
2019-07-30T19:41:37.849Z,1564515697.849 [esp_kiss:A.AbortSample](INFO): Initializing AbortSample.
2019-07-30T19:41:37.849Z,1564515697.849 [esp_kiss:StandardEnvelopes] Running Loop=1
2019-07-30T19:41:37.849Z,1564515697.849 [esp_kiss:StandardEnvelopes](DEBUG): Aggregate::initialize esp_kiss:StandardEnvelopes
2019-07-30T19:41:37.850Z,1564515697.850 [esp_kiss:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2019-07-30T19:41:37.850Z,1564515697.850 [esp_kiss:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2019-07-30T19:41:37.850Z,1564515697.850 [esp_kiss:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2019-07-30T19:41:37.850Z,1564515697.850 [esp_kiss:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2019-07-30T19:41:37.850Z,1564515697.850 [esp_kiss:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2019-07-30T19:41:37.850Z,1564515697.850 [esp_kiss:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2019-07-30T19:41:37.850Z,1564515697.850 [esp_kiss:I] Running Loop=1
2019-07-30T19:41:37.850Z,1564515697.850 [esp_kiss:Science] Running Loop=1
2019-07-30T19:41:37.850Z,1564515697.850 [esp_kiss:Science](DEBUG): Aggregate::initialize esp_kiss:Science
2019-07-30T19:41:37.850Z,1564515697.850 [esp_kiss:Science:A] Running Loop=1
2019-07-30T19:41:37.851Z,1564515697.851 [esp_kiss:Science:B] Running Loop=1
2019-07-30T19:41:37.851Z,1564515697.851 [esp_kiss:Science:C] Running Loop=1
2019-07-30T19:41:37.851Z,1564515697.851 [esp_kiss:Science:D] Running Loop=1
2019-07-30T19:41:37.851Z,1564515697.851 [esp_kiss:Science:E] Running Loop=1
2019-07-30T19:41:37.851Z,1564515697.851 [esp_kiss:Science:F] Running Loop=1
2019-07-30T19:41:37.851Z,1564515697.851 [esp_kiss:Science:G] Running Loop=1
2019-07-30T19:41:37.851Z,1564515697.851 [esp_kiss:Science:H] Running Loop=1
2019-07-30T19:41:37.851Z,1564515697.851 [esp_kiss:Science:Read_Oil] Running Loop=1
2019-07-30T19:41:37.851Z,1564515697.851 [esp_kiss:Science:PeakDetectChl] Running Loop=1
2019-07-30T19:41:37.851Z,1564515697.851 [esp_kiss:Science:PeakDetectChl](DEBUG): Aggregate::initialize esp_kiss:Science:PeakDetectChl
2019-07-30T19:41:37.851Z,1564515697.851 [esp_kiss:Science:PeakDetectChl:A.PeakDetectVsDepth] Running Loop=1
2019-07-30T19:41:37.851Z,1564515697.851 [esp_kiss:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Initialize.
2019-07-30T19:41:37.853Z,1564515697.853 [esp_kiss:Science:HighestChlPeakReport] Running Loop=1
2019-07-30T19:41:37.853Z,1564515697.853 [esp_kiss:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize esp_kiss:Science:HighestChlPeakReport
2019-07-30T19:41:37.853Z,1564515697.853 [esp_kiss:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2019-07-30T19:41:37.853Z,1564515697.853 [esp_kiss:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2019-07-30T19:41:37.854Z,1564515697.854 [esp_kiss:Science:PeakDetectNO3] Running Loop=1
2019-07-30T19:41:37.854Z,1564515697.854 [esp_kiss:Science:PeakDetectNO3](DEBUG): Aggregate::initialize esp_kiss:Science:PeakDetectNO3
2019-07-30T19:41:37.854Z,1564515697.854 [esp_kiss:Science:PeakDetectNO3:A.PeakDetectVsDepth] Running Loop=1
2019-07-30T19:41:37.854Z,1564515697.854 [esp_kiss:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Initialize.
2019-07-30T19:41:37.855Z,1564515697.855 [esp_kiss:Science:PeakDetectOil] Running Loop=1
2019-07-30T19:41:37.855Z,1564515697.855 [esp_kiss:Science:PeakDetectOil](DEBUG): Aggregate::initialize esp_kiss:Science:PeakDetectOil
2019-07-30T19:41:37.855Z,1564515697.855 [esp_kiss:Science:PeakDetectOil:A.PeakDetectVsDepth] Running Loop=1
2019-07-30T19:41:37.855Z,1564515697.855 [esp_kiss:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Initialize.
2019-07-30T19:41:37.856Z,1564515697.856 [esp_kiss:Science:PeakDetectFDOM] Running Loop=1
2019-07-30T19:41:37.856Z,1564515697.856 [esp_kiss:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize esp_kiss:Science:PeakDetectFDOM
2019-07-30T19:41:37.857Z,1564515697.857 [esp_kiss:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Running Loop=1
2019-07-30T19:41:37.857Z,1564515697.857 [esp_kiss:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Initialize.
2019-07-30T19:41:37.858Z,1564515697.858 [esp_kiss:C] Running Loop=1
2019-07-30T19:41:37.858Z,1564515697.858 [esp_kiss:Science] Running Loop=1
2019-07-30T19:41:37.859Z,1564515697.859 [esp_kiss:Science:PeakDetectFDOM] Stopped
2019-07-30T19:41:37.860Z,1564515697.860 [esp_kiss:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize esp_kiss:Science:PeakDetectFDOM
2019-07-30T19:41:37.860Z,1564515697.860 [esp_kiss:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Stopped
2019-07-30T19:41:37.860Z,1564515697.860 [esp_kiss:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2019-07-30T19:41:37.860Z,1564515697.860 [esp_kiss:Science:PeakDetectOil] Stopped
2019-07-30T19:41:37.860Z,1564515697.860 [esp_kiss:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize esp_kiss:Science:PeakDetectOil
2019-07-30T19:41:37.860Z,1564515697.860 [esp_kiss:Science:PeakDetectOil:A.PeakDetectVsDepth] Stopped
2019-07-30T19:41:37.860Z,1564515697.860 [esp_kiss:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2019-07-30T19:41:37.860Z,1564515697.860 [esp_kiss:Science:PeakDetectNO3] Stopped
2019-07-30T19:41:37.860Z,1564515697.860 [esp_kiss:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize esp_kiss:Science:PeakDetectNO3
2019-07-30T19:41:37.860Z,1564515697.860 [esp_kiss:Science:PeakDetectNO3:A.PeakDetectVsDepth] Stopped
2019-07-30T19:41:37.860Z,1564515697.860 [esp_kiss:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2019-07-30T19:41:37.860Z,1564515697.860 [esp_kiss:Science:HighestChlPeakReport] Stopped
2019-07-30T19:41:37.860Z,1564515697.860 [esp_kiss:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize esp_kiss:Science:HighestChlPeakReport
2019-07-30T19:41:37.861Z,1564515697.861 [esp_kiss:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2019-07-30T19:41:37.861Z,1564515697.861 [esp_kiss:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2019-07-30T19:41:37.861Z,1564515697.861 [esp_kiss:Science:PeakDetectChl] Stopped
2019-07-30T19:41:37.861Z,1564515697.861 [esp_kiss:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize esp_kiss:Science:PeakDetectChl
2019-07-30T19:41:37.861Z,1564515697.861 [esp_kiss:Science:PeakDetectChl:A.PeakDetectVsDepth] Stopped
2019-07-30T19:41:37.861Z,1564515697.861 [esp_kiss:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2019-07-30T19:41:37.861Z,1564515697.861 [esp_kiss:Science:Read_Oil] Stopped
2019-07-30T19:41:37.861Z,1564515697.861 [esp_kiss:Science:H] Stopped
2019-07-30T19:41:37.861Z,1564515697.861 [esp_kiss:Science:G] Stopped
2019-07-30T19:41:37.861Z,1564515697.861 [esp_kiss:Science:F] Stopped
2019-07-30T19:41:37.861Z,1564515697.861 [esp_kiss:Science:E] Stopped
2019-07-30T19:41:37.861Z,1564515697.861 [esp_kiss:Science:D] Stopped
2019-07-30T19:41:37.861Z,1564515697.861 [esp_kiss:Science:C] Stopped
2019-07-30T19:41:37.861Z,1564515697.861 [esp_kiss:Science:B] Stopped
2019-07-30T19:41:37.861Z,1564515697.861 [esp_kiss:Science:A] Stopped
2019-07-30T19:41:37.861Z,1564515697.861 [esp_kiss:I] Running Loop=1
2019-07-30T19:41:37.862Z,1564515697.862 [esp_kiss:C] Stopped
2019-07-30T19:41:37.862Z,1564515697.862 [esp_kiss:D] Running Loop=1
2019-07-30T19:41:37.862Z,1564515697.862 [esp_kiss:StandardEnvelopes] Running Loop=1
2019-07-30T19:41:37.862Z,1564515697.862 [esp_kiss:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2019-07-30T19:41:37.863Z,1564515697.863 [esp_kiss:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2019-07-30T19:41:37.863Z,1564515697.863 [esp_kiss:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2019-07-30T19:41:37.863Z,1564515697.863 [esp_kiss:A.AbortSample] Running Loop=1
2019-07-30T19:41:38.253Z,1564515698.253 [esp_kiss:D] Stopped
2019-07-30T19:41:38.254Z,1564515698.254 [esp_kiss:E] Running Loop=1
2019-07-30T19:41:38.683Z,1564515698.683 [esp_kiss:E] Stopped
2019-07-30T19:41:38.683Z,1564515698.683 [esp_kiss:G] Running Loop=1
2019-07-30T19:41:39.098Z,1564515699.098 [esp_kiss:G] Stopped
2019-07-30T19:41:39.098Z,1564515699.098 [esp_kiss:H] Running Loop=1
2019-07-30T19:41:39.490Z,1564515699.490 [esp_kiss:H] Stopped
2019-07-30T19:41:39.490Z,1564515699.490 [esp_kiss:StartingMission] Running Loop=1
2019-07-30T19:41:39.490Z,1564515699.490 [esp_kiss:StartingMission](DEBUG): Aggregate::initialize esp_kiss:StartingMission
2019-07-30T19:41:39.491Z,1564515699.491 [esp_kiss:StandardEnvelopes:A.AltitudeEnvelope](ERROR): Altitude Measurement is not Active.
2019-07-30T19:41:39.897Z,1564515699.897 [esp_kiss:NeedComms] Running Loop=1
2019-07-30T19:41:39.897Z,1564515699.897 [esp_kiss:NeedComms](DEBUG): Aggregate::initialize esp_kiss:NeedComms
2019-07-30T19:41:39.897Z,1564515699.897 [esp_kiss:NeedComms:B.GoToSurface] Running Loop=1
2019-07-30T19:41:39.897Z,1564515699.897 [esp_kiss:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-07-30T19:41:39.898Z,1564515699.898 [esp_kiss:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2019-07-30T19:41:39.898Z,1564515699.898 [esp_kiss:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2019-07-30T19:41:39.898Z,1564515699.898 [esp_kiss:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2019-07-30T19:41:39.899Z,1564515699.899 [esp_kiss:NeedComms:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-07-30T19:41:39.899Z,1564515699.899 [esp_kiss:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-07-30T19:41:39.899Z,1564515699.899 [esp_kiss:NeedComms:A] Running Loop=1
2019-07-30T19:41:39.900Z,1564515699.900 [esp_kiss:NeedComms:A](INFO): last time_fix was: 1564515328.000000 second since 1970/01/01T00:00:00Z 
2019-07-30T19:41:39.901Z,1564515699.901 [esp_kiss:NeedComms:A] Stopped
2019-07-30T19:41:43.443Z,1564515703.443 [CommandLine](IMPORTANT): got command maintain sensor NAL9602.latitude_fix 36.797001 degree
2019-07-30T19:41:43.444Z,1564515703.444 [CommandLine](IMPORTANT): got command maintain sensor NAL9602.longitude_fix -121.847000 degree
2019-07-30T19:41:54.067Z,1564515714.067 [CommandLine](IMPORTANT): got command set NAL9602.time_fix 1564515712.000000 second
2019-07-30T19:42:16.256Z,1564515736.256 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-07-30T19:42:16.256Z,1564515736.256 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 1
2019-07-30T19:42:16.256Z,1564515736.256 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-07-30T19:42:16.270Z,1564515736.270 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-07-30T19:42:16.673Z,1564515736.673 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-07-30T19:42:16.673Z,1564515736.673 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 1
2019-07-30T19:42:33.738Z,1564515753.738 [CommandLine](IMPORTANT): got command set NAL9602.time_fix 1564515712.000000 ampere
2019-07-30T19:42:38.607Z,1564515758.607 [CommandLine](IMPORTANT): got command set NAL9602.time_fix 1564515712.000000 second
2019-07-30T19:43:07.261Z,1564515787.261 [CommandLine](IMPORTANT): got command failComponent
2019-07-30T19:43:07.261Z,1564515787.261 [CommandLine](IMPORTANT): Failed components:
2019-07-30T19:43:07.262Z,1564515787.262 [CommandLine](IMPORTANT): No failed Components.
2019-07-30T19:43:20.962Z,1564515800.962 [CommandLine](IMPORTANT): got command set NAL9602.time_fix 1564515840.000000 second
2019-07-30T19:43:32.319Z,1564515812.319 [CommandLine](IMPORTANT): got command show stack
2019-07-30T19:43:32.319Z,1564515812.319 [CommandLine](IMPORTANT): Behavior Stack:

2019-07-30T19:43:32.319Z,1564515812.319 [esp_kiss](IMPORTANT): Priority 0: esp_kiss:A.AbortSample
2019-07-30T19:43:32.319Z,1564515812.319 [esp_kiss:StandardEnvelopes](IMPORTANT): Priority 1: esp_kiss:StandardEnvelopes:A.AltitudeEnvelope
2019-07-30T19:43:32.320Z,1564515812.320 [esp_kiss:StandardEnvelopes](IMPORTANT): Priority 2: esp_kiss:StandardEnvelopes:B.DepthEnvelope
2019-07-30T19:43:32.320Z,1564515812.320 [esp_kiss:StandardEnvelopes](IMPORTANT): Priority 3: esp_kiss:StandardEnvelopes:C.OffshoreEnvelope
2019-07-30T19:43:32.320Z,1564515812.320 [esp_kiss:NeedComms](IMPORTANT): Priority 4: esp_kiss:NeedComms:B.GoToSurface
2019-07-30T19:43:32.321Z,1564515812.321 [esp_kiss](IMPORTANT): Priority 5: esp_kiss:I
2019-07-30T19:43:48.238Z,1564515828.238 [CommandLine](IMPORTANT): got command set NAL9602.time_fix 1564515840.000000 second
2019-07-30T19:44:11.734Z,1564515851.734 [CommandLine](IMPORTANT): got command failComponent
2019-07-30T19:44:11.734Z,1564515851.734 [CommandLine](IMPORTANT): Failed components:
2019-07-30T19:44:11.735Z,1564515851.735 [CommandLine](IMPORTANT): No failed Components.
2019-07-30T19:44:17.485Z,1564515857.485 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-07-30T19:44:17.485Z,1564515857.485 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 1
2019-07-30T19:44:17.485Z,1564515857.485 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-07-30T19:44:17.510Z,1564515857.510 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-07-30T19:44:17.904Z,1564515857.904 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-07-30T19:44:17.904Z,1564515857.904 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 1
2019-07-30T19:44:28.434Z,1564515868.434 [CommandLine](IMPORTANT): got command set NAL9602.time_fix 1564515840.000000 second
2019-07-30T19:44:42.966Z,1564515882.966 [CommandLine](IMPORTANT): got command failComponent
2019-07-30T19:44:42.966Z,1564515882.966 [CommandLine](IMPORTANT): Failed components:
2019-07-30T19:44:42.966Z,1564515882.966 [CommandLine](IMPORTANT): No failed Components.
2019-07-30T19:44:47.366Z,1564515887.366 [CommandLine](IMPORTANT): got command set NAL9602.time_fix 1564515840.000000 second
2019-07-30T19:44:58.811Z,1564515898.811 [CommandLine](IMPORTANT): got command set NAL9602.time_fix 1564515840.000000 second
2019-07-30T19:45:25.074Z,1564515925.074 [CommandLine](IMPORTANT): got command stop
2019-07-30T19:45:25.075Z,1564515925.075 [Supervisor](INFO): Stop Mission called by CommandLine::commandStop
2019-07-30T19:45:25.348Z,1564515925.348 [MissionManager](INFO): MissionManager is completed.
2019-07-30T19:45:25.353Z,1564515925.353 [MissionManager](INFO): Uninitializing Mission esp_kiss
2019-07-30T19:45:25.353Z,1564515925.353 [esp_kiss] Stopped
2019-07-30T19:45:25.353Z,1564515925.353 [esp_kiss](DEBUG): Aggregate::uninitialize esp_kiss
2019-07-30T19:45:25.353Z,1564515925.353 [esp_kiss:A.AbortSample] Stopped
2019-07-30T19:45:25.353Z,1564515925.353 [esp_kiss:A.AbortSample](INFO): Uninitializing AbortSample.
2019-07-30T19:45:25.354Z,1564515925.354 [esp_kiss:StandardEnvelopes] Stopped
2019-07-30T19:45:25.354Z,1564515925.354 [esp_kiss:StandardEnvelopes](DEBUG): Aggregate::uninitialize esp_kiss:StandardEnvelopes
2019-07-30T19:45:25.354Z,1564515925.354 [esp_kiss:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2019-07-30T19:45:25.354Z,1564515925.354 [esp_kiss:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2019-07-30T19:45:25.354Z,1564515925.354 [esp_kiss:StandardEnvelopes:B.DepthEnvelope] Stopped
2019-07-30T19:45:25.354Z,1564515925.354 [esp_kiss:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2019-07-30T19:45:25.354Z,1564515925.354 [esp_kiss:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2019-07-30T19:45:25.354Z,1564515925.354 [esp_kiss:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2019-07-30T19:45:25.354Z,1564515925.354 [esp_kiss:NeedComms] Stopped
2019-07-30T19:45:25.354Z,1564515925.354 [esp_kiss:NeedComms](DEBUG): Aggregate::uninitialize esp_kiss:NeedComms
2019-07-30T19:45:25.354Z,1564515925.354 [esp_kiss:NeedComms:B.GoToSurface] Stopped
2019-07-30T19:45:25.354Z,1564515925.354 [esp_kiss:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-07-30T19:45:25.355Z,1564515925.355 [esp_kiss:I] Stopped
2019-07-30T19:45:25.355Z,1564515925.355 [esp_kiss:StartingMission] Stopped
2019-07-30T19:45:25.355Z,1564515925.355 [esp_kiss:StartingMission](DEBUG): Aggregate::uninitialize esp_kiss:StartingMission
2019-07-30T19:45:25.355Z,1564515925.355 [esp_kiss:Science] Stopped
2019-07-30T19:45:25.355Z,1564515925.355 [esp_kiss:Science](DEBUG): Aggregate::uninitialize esp_kiss:Science
2019-07-30T19:45:25.744Z,1564515925.744 [MissionManager](IMPORTANT): Started mission Default
2019-07-30T19:45:25.744Z,1564515925.744 [Default] Running Loop=1
2019-07-30T19:45:25.744Z,1564515925.744 [Default](DEBUG): Aggregate::initialize Default
2019-07-30T19:45:25.744Z,1564515925.744 [Default:B.GoToSurface] Running Loop=1
2019-07-30T19:45:25.744Z,1564515925.744 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-07-30T19:45:25.775Z,1564515925.775 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2019-07-30T19:45:25.776Z,1564515925.776 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2019-07-30T19:45:25.776Z,1564515925.776 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2019-07-30T19:45:25.776Z,1564515925.776 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-07-30T19:45:25.777Z,1564515925.777 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-07-30T19:45:25.778Z,1564515925.778 [Default:A.Wait] Running Loop=1
2019-07-30T19:45:25.778Z,1564515925.778 [Default:A.Wait](DEBUG): Initialize Wait Component.
2019-07-30T19:45:36.522Z,1564515936.522 [CommandLine](IMPORTANT): got command run ./Missions/Science/esp_kiss.xml
2019-07-30T19:45:36.522Z,1564515936.522 [MissionManager](INFO): Loading Mission: ./Missions/Science/esp_kiss.xml
2019-07-30T19:45:36.716Z,1564515936.716 [MissionManager](INFO): DefineArg esp_kiss.MissionTimeout = 4.000000 h
2019-07-30T19:45:36.719Z,1564515936.719 [MissionManager](INFO): DefineArg esp_kiss.TargetDepth = 3.000000 m
2019-07-30T19:45:36.722Z,1564515936.722 [MissionManager](INFO): DefineArg esp_kiss.ESPCartridgeType_1 = -4.000000 count
2019-07-30T19:45:36.724Z,1564515936.724 [MissionManager](INFO): DefineArg esp_kiss.ESPCartridgeType_2 = -9.000000 count
2019-07-30T19:45:36.727Z,1564515936.727 [MissionManager](INFO): DefineArg esp_kiss.ESPCartridgeType_3 = nan count
2019-07-30T19:45:36.732Z,1564515936.732 [MissionManager](INFO): DefineArg esp_kiss.ESPCartridgeType_4 = nan count
2019-07-30T19:45:36.735Z,1564515936.735 [MissionManager](INFO): DefineArg esp_kiss.SettleTime = 3.000000 min
2019-07-30T19:45:36.737Z,1564515936.737 [MissionManager](INFO): DefineArg esp_kiss.Speed = 0.000000 m/s
2019-07-30T19:45:36.739Z,1564515936.739 [MissionManager](INFO): DefineArg esp_kiss.ApproachDepth = 2.000000 m
2019-07-30T19:45:36.741Z,1564515936.741 [MissionManager](INFO): DefineArg esp_kiss.ApproachSpeed = 0.700000 m/s
2019-07-30T19:45:36.744Z,1564515936.744 [MissionManager](INFO): DefineArg esp_kiss.ApproachDepthRate = 0.050000 m/s
2019-07-30T19:45:36.746Z,1564515936.746 [MissionManager](INFO): DefineArg esp_kiss.ApproachPitchLimit = 10.000000 arcdeg
2019-07-30T19:45:36.749Z,1564515936.749 [MissionManager](INFO): DefineArg esp_kiss.ApproachSettleTimePreDive = 0.200000 min
2019-07-30T19:45:36.751Z,1564515936.751 [MissionManager](INFO): DefineArg esp_kiss.ApproachSettleTimePostDive = 0.200000 min
2019-07-30T19:45:36.754Z,1564515936.754 [MissionManager](INFO): DefineArg esp_kiss.ApproachDepthTimeout = 15.000000 min
2019-07-30T19:45:36.757Z,1564515936.757 [MissionManager](INFO): DefineArg esp_kiss.kpDepth = 0.070000 rad/m
2019-07-30T19:45:36.759Z,1564515936.759 [MissionManager](INFO): DefineArg esp_kiss.DepthDeadband = 0.010000 m
2019-07-30T19:45:36.761Z,1564515936.761 [MissionManager](INFO): DefineArg esp_kiss.MinAltitude = 2.000000 m
2019-07-30T19:45:36.763Z,1564515936.763 [MissionManager](INFO): DefineArg esp_kiss.MaxDepth = 5.000000 m
2019-07-30T19:45:36.765Z,1564515936.765 [MissionManager](INFO): DefineArg esp_kiss.MinOffshore = 1.000000 km
2019-07-30T19:45:36.768Z,1564515936.768 [MissionManager](INFO): DefineOutput esp_kiss.ESPCartridgeType = nan count
2019-07-30T19:45:36.769Z,1564515936.769 [esp_kiss:A.AbortSample](DEBUG): Construct.
2019-07-30T19:45:36.770Z,1564515936.770 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml
2019-07-30T19:45:36.788Z,1564515936.788 [MissionManager](INFO): DefineArg esp_kiss:StandardEnvelopes.MinAltitude = 5.000000 m
2019-07-30T19:45:36.791Z,1564515936.791 [MissionManager](INFO): DefineArg esp_kiss:StandardEnvelopes.MaxDepth = 200.000000 m
2019-07-30T19:45:36.830Z,1564515936.830 [MissionManager](INFO): DefineArg esp_kiss:StandardEnvelopes.MinOffshore = 2000.000000 m
2019-07-30T19:45:36.831Z,1564515936.831 [esp_kiss:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2019-07-30T19:45:36.836Z,1564515936.836 [esp_kiss:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2019-07-30T19:45:36.864Z,1564515936.864 [esp_kiss:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2019-07-30T19:45:36.884Z,1564515936.884 [MissionManager](INFO): Inserting Stack: Missions/Insert/NeedComms.xml
2019-07-30T19:45:36.986Z,1564515936.986 [MissionManager](INFO): DefineArg esp_kiss:NeedComms.DiveInterval = 3.000000 h
2019-07-30T19:45:36.988Z,1564515936.988 [MissionManager](INFO): DefineArg esp_kiss:NeedComms.WaitForPitchUp = 10.000000 min
2019-07-30T19:45:36.990Z,1564515936.990 [MissionManager](INFO): DefineArg esp_kiss:NeedComms.SurfacePitch = 20.000000 arcdeg
2019-07-30T19:45:36.992Z,1564515936.992 [MissionManager](INFO): DefineArg esp_kiss:NeedComms.SurfaceDepthRate = nan m/s
2019-07-30T19:45:36.994Z,1564515936.994 [MissionManager](INFO): DefineArg esp_kiss:NeedComms.SurfaceSpeed = 1.000000 m/s
2019-07-30T19:45:37.018Z,1564515937.018 [MissionManager](INFO): DefineArg esp_kiss:NeedComms.GPSTimeout = 7.000000 min
2019-07-30T19:45:37.020Z,1564515937.020 [MissionManager](INFO): DefineArg esp_kiss:NeedComms.CommsTimeout = 30.000000 min
2019-07-30T19:45:37.033Z,1564515937.033 [esp_kiss:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2019-07-30T19:45:37.128Z,1564515937.128 [esp_kiss:SampleESP:sample:B.Wait](DEBUG): Construct Wait.
2019-07-30T19:45:37.144Z,1564515937.144 [MissionManager](ERROR): Slate does not contain CTD_NeilBrown.bin_mean_sea_water_temperature
2019-07-30T19:45:37.145Z,1564515937.145 [MissionManager](ERROR): Slate does not contain celsius
2019-07-30T19:45:37.145Z,1564515937.145 [MissionManager](ERROR): Slate does not contain WetLabsBB2FL.bin_mean_mass_concentration_of_chlorophyll_in_sea_water
2019-07-30T19:45:37.146Z,1564515937.146 [MissionManager](ERROR): Slate does not contain microgram_per_liter
2019-07-30T19:45:37.147Z,1564515937.147 [MissionManager](INFO): Inserting Stack: Missions/Insert/Science.xml
2019-07-30T19:45:37.511Z,1564515937.511 [MissionManager](INFO): DefineArg esp_kiss:Science.SampleISUS = 0 bool
2019-07-30T19:45:37.514Z,1564515937.514 [MissionManager](INFO): DefineArg esp_kiss:Science.SampleISUSmaxPitch = 60.000000 arcdeg
2019-07-30T19:45:37.516Z,1564515937.516 [MissionManager](INFO): DefineArg esp_kiss:Science.SampleISUSminPitch = -60.000000 arcdeg
2019-07-30T19:45:37.518Z,1564515937.518 [MissionManager](INFO): DefineArg esp_kiss:Science.PeakDetectChlActive = 0 bool
2019-07-30T19:45:37.520Z,1564515937.520 [MissionManager](INFO): DefineArg esp_kiss:Science.TimeWindowPeakReport = nan min
2019-07-30T19:45:37.526Z,1564515937.526 [MissionManager](INFO): DefineArg esp_kiss:Science.HighestChlPeakReportActive = 0 bool
2019-07-30T19:45:37.528Z,1564515937.528 [MissionManager](INFO): DefineArg esp_kiss:Science.PatchTracking = 0 bool
2019-07-30T19:45:37.530Z,1564515937.530 [MissionManager](INFO): DefineArg esp_kiss:Science.FilterWidthHorizontal = 3.000000 count
2019-07-30T19:45:37.533Z,1564515937.533 [MissionManager](INFO): DefineArg esp_kiss:Science.NumProfilesSlidingwindow = 100.000000 count
2019-07-30T19:45:37.536Z,1564515937.536 [MissionManager](INFO): DefineArg esp_kiss:Science.OffPeakFractionHorizontal = 80.000000 %
2019-07-30T19:45:37.538Z,1564515937.538 [MissionManager](INFO): DefineArg esp_kiss:Science.PeakDetectNO3Active = 0 bool
2019-07-30T19:45:37.540Z,1564515937.540 [MissionManager](INFO): DefineArg esp_kiss:Science.PeakDetectOilActive = 0 bool
2019-07-30T19:45:37.543Z,1564515937.543 [MissionManager](INFO): DefineArg esp_kiss:Science.PeakDetectFDOMActive = 0 bool
2019-07-30T19:45:37.552Z,1564515937.552 [MissionManager](INFO): DefineArg esp_kiss:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2019-07-30T19:45:37.555Z,1564515937.555 [MissionManager](INFO): DefineArg esp_kiss:Science.EnabledAanderaaO2 = 0.000000 bool
2019-07-30T19:45:37.558Z,1564515937.558 [MissionManager](INFO): DefineArg esp_kiss:Science.EnabledNeilBrown = 0.000000 bool
2019-07-30T19:45:37.561Z,1564515937.561 [MissionManager](INFO): DefineArg esp_kiss:Science.EnabledSeabird = 0.000000 bool
2019-07-30T19:45:37.564Z,1564515937.564 [MissionManager](INFO): DefineArg esp_kiss:Science.EnabledTurbulence_NPS = 0.000000 bool
2019-07-30T19:45:37.583Z,1564515937.583 [MissionManager](INFO): DefineArg esp_kiss:Science.EnabledWetLabsBB2FL = 0.000000 bool
2019-07-30T19:45:37.594Z,1564515937.594 [MissionManager](INFO): DefineArg esp_kiss:Science.EnabledWetLabsSeaOWL_UV_A = 0.000000 bool
2019-07-30T19:45:37.596Z,1564515937.596 [MissionManager](INFO): DefineArg esp_kiss:Science.EnabledWetLabsUBAT = 0.000000 bool
2019-07-30T19:45:37.607Z,1564515937.607 [MissionManager](INFO): DefineArg esp_kiss:Science.EnabledISUS = 0.000000 bool
2019-07-30T19:45:37.622Z,1564515937.622 [MissionManager](INFO): DefineArg esp_kiss:Science.LowPassWindowLength = 20.000000 count
2019-07-30T19:45:37.624Z,1564515937.624 [MissionManager](INFO): DefineArg esp_kiss:Science.MedianFilterLen = 5.000000 count
2019-07-30T19:45:37.635Z,1564515937.635 [MissionManager](INFO): DefineArg esp_kiss:Science.PeakChlShallowBound = nan m
2019-07-30T19:45:37.641Z,1564515937.641 [MissionManager](INFO): DefineArg esp_kiss:Science.PeakChlDeepBound = nan m
2019-07-30T19:45:37.643Z,1564515937.643 [MissionManager](INFO): DefineArg esp_kiss:Science.PeakShallowBound = nan m
2019-07-30T19:45:37.653Z,1564515937.653 [MissionManager](INFO): DefineArg esp_kiss:Science.PeakDeepBound = nan m
2019-07-30T19:45:37.656Z,1564515937.656 [MissionManager](INFO): DefineOutput esp_kiss:Science.PeakChl = 0.000000 ug/l
2019-07-30T19:45:37.659Z,1564515937.659 [MissionManager](INFO): DefineOutput esp_kiss:Science.PeakChlDepth = 0.000000 m
2019-07-30T19:45:37.669Z,1564515937.669 [MissionManager](INFO): DefineOutput esp_kiss:Science.PeakChlTemperature = 0.000000 degC
2019-07-30T19:45:37.672Z,1564515937.672 [MissionManager](INFO): DefineOutput esp_kiss:Science.PeakChlLatitude = nan arcdeg
2019-07-30T19:45:37.678Z,1564515937.678 [MissionManager](INFO): DefineOutput esp_kiss:Science.PeakChlLongitude = nan arcdeg
2019-07-30T19:45:37.680Z,1564515937.680 [MissionManager](INFO): DefineOutput esp_kiss:Science.PeakNO3 = 0.000000 umol/l
2019-07-30T19:45:37.687Z,1564515937.687 [MissionManager](INFO): DefineOutput esp_kiss:Science.PeakNO3Depth = 0.000000 m
2019-07-30T19:45:37.691Z,1564515937.691 [MissionManager](INFO): DefineOutput esp_kiss:Science.PeakNO3Latitude = nan arcdeg
2019-07-30T19:45:37.701Z,1564515937.701 [MissionManager](INFO): DefineOutput esp_kiss:Science.PeakNO3Longitude = nan arcdeg
2019-07-30T19:45:37.703Z,1564515937.703 [MissionManager](INFO): DefineOutput esp_kiss:Science.PatchChl = 0.000000 m
2019-07-30T19:45:37.706Z,1564515937.706 [MissionManager](INFO): DefineOutput esp_kiss:Science.PatchChlDepth = 0.000000 m
2019-07-30T19:45:37.708Z,1564515937.708 [MissionManager](INFO): DefineOutput esp_kiss:Science.PatchChlLatitude = nan arcdeg
2019-07-30T19:45:37.719Z,1564515937.719 [MissionManager](INFO): DefineOutput esp_kiss:Science.PatchChlLongitude = nan arcdeg
2019-07-30T19:45:37.724Z,1564515937.724 [MissionManager](INFO): DefineOutput esp_kiss:Science.PatchChlDistance = nan m
2019-07-30T19:45:37.746Z,1564515937.746 [MissionManager](INFO): DefineOutput esp_kiss:Science.PeakOil = 0.000000 kg/m3
2019-07-30T19:45:37.757Z,1564515937.757 [MissionManager](INFO): DefineOutput esp_kiss:Science.PeakOilDepth = 0.000000 m
2019-07-30T19:45:37.759Z,1564515937.759 [MissionManager](INFO): DefineOutput esp_kiss:Science.PeakOilLatitude = nan arcdeg
2019-07-30T19:45:37.770Z,1564515937.770 [MissionManager](INFO): DefineOutput esp_kiss:Science.PeakOilLongitude = nan arcdeg
2019-07-30T19:45:37.772Z,1564515937.772 [MissionManager](INFO): DefineOutput esp_kiss:Science.PeakFDOM = 0.000000 ppb
2019-07-30T19:45:37.783Z,1564515937.783 [MissionManager](INFO): DefineOutput esp_kiss:Science.PeakFDOMDepth = 0.000000 m
2019-07-30T19:45:37.793Z,1564515937.793 [MissionManager](INFO): DefineOutput esp_kiss:Science.PeakFDOMLatitude = nan arcdeg
2019-07-30T19:45:37.796Z,1564515937.796 [MissionManager](INFO): DefineOutput esp_kiss:Science.PeakFDOMLongitude = nan arcdeg
2019-07-30T19:45:37.806Z,1564515937.806 [MissionManager](INFO): DefineOutput esp_kiss:Science.PatchFDOMDistance = nan m
2019-07-30T19:45:37.838Z,1564515937.838 [esp_kiss:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2019-07-30T19:45:37.887Z,1564515937.888 [esp_kiss:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2019-07-30T19:45:37.915Z,1564515937.915 [esp_kiss:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2019-07-30T19:45:37.946Z,1564515937.946 [esp_kiss:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2019-07-30T19:45:37.956Z,1564515937.956 [esp_kiss:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2019-07-30T19:45:37.995Z,1564515937.995 [esp_kiss:InitialDive:C.Pitch](DEBUG): Construct.
2019-07-30T19:45:37.000Z,1564515938.000 [esp_kiss:InitialDive:D.Point](DEBUG): Construct.
2019-07-30T19:45:38.013Z,1564515938.013 [esp_kiss:InitialDive:E.Buoyancy](DEBUG): Construct Buoyancy.
2019-07-30T19:45:38.017Z,1564515938.017 [esp_kiss:InitialDive:G.Wait](DEBUG): Construct Wait.
2019-07-30T19:45:38.020Z,1564515938.020 [esp_kiss:InitialDive:ApproachDepth:A.SetSpeed](DEBUG): Construct.
2019-07-30T19:45:38.022Z,1564515938.022 [esp_kiss:InitialDive:ApproachDepth:B.Pitch](DEBUG): Construct.
2019-07-30T19:45:38.028Z,1564515938.028 [esp_kiss:InitialDive:ApproachDepth:B.Pitch:A_Timeout:B.Execute](DEBUG): Construct Execute.
2019-07-30T19:45:38.057Z,1564515938.057 [esp_kiss:SettleAtDepth:B.Pitch](DEBUG): Construct.
2019-07-30T19:45:38.077Z,1564515938.077 [esp_kiss:SettleAtDepth:C.Wait](DEBUG): Construct Wait.
2019-07-30T19:45:38.079Z,1564515938.079 [esp_kiss:SampleAtTargetDepth:A.SetSpeed](DEBUG): Construct.
2019-07-30T19:45:38.081Z,1564515938.081 [esp_kiss:SampleAtTargetDepth:B.Pitch](DEBUG): Construct.
2019-07-30T19:45:38.102Z,1564515938.102 [esp_kiss:SampleAtTargetDepth:Spinout:HoldMassPosition.Pitch](DEBUG): Construct.
2019-07-30T19:45:38.107Z,1564515938.107 [esp_kiss:SampleAtTargetDepth:Spinout:HoldBuoyancyPosition.Buoyancy](DEBUG): Construct Buoyancy.
2019-07-30T19:45:38.125Z,1564515938.125 [esp_kiss:SampleAtTargetDepth:Spinout:HoldRudderAngle.Point](DEBUG): Construct.
2019-07-30T19:45:38.319Z,1564515938.319 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>

<Mission xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
         xmlns="Tethys"
         xmlns:Units="Tethys/Units"
         xmlns:Guidance="Tethys/Guidance"
         xmlns:Control="Tethys/Control"
         xsi:schemaLocation="Tethys http://okeanids.mbari.org/tethys/Xml/Tethys.xsd
                             Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd
                             Tethys/Guidance http://okeanids.mbari.org/tethys/Xml/Guidance.xsd
                             Tethys/Control http://okeanids.mbari.org/tethys/Xml/Control.xsd
                             Tethys/Science http://okeanids.mbari.org/tethys/Xml/Science.xsd"
       Id="esp_kiss">

    <Description>
        This mission takes ESP samples at the designated depth.
    </Description>

    <DefineArg Name="MissionTimeout"><Description>
        Maximum duration of mission.
    </Description><Units:hour/><Value>4</Value></DefineArg>

    <DefineArg Name="TargetDepth"><Description>
        Depth to sample at. Initialized to 3 m.
    </Description><Units:meter/><Value>3</Value></DefineArg>

    <DefineArg Name="ESPCartridgeType_1"><Description>
        Specifies ESP cartridge type code for sample# 1. Set to NaN to skip this sample.
    </Description><Units:count/><Value>-4</Value></DefineArg>

    <DefineArg Name="ESPCartridgeType_2"><Description>
        Specifies ESP cartridge type code for sample# 2. Set to NaN to skip this sample.
    </Description><Units:count/><Value>-9</Value></DefineArg>

    <DefineArg Name="ESPCartridgeType_3"><Description>
        Specifies ESP cartridge type code for sample# 3. Set to NaN to skip this sample.
    </Description><Units:count/><Value>NaN</Value></DefineArg>

    <DefineArg Name="ESPCartridgeType_4"><Description>
        Specifies ESP cartridge type code for sample# 4. Set to NaN to skip this sample.
    </Description><Units:count/><Value>NaN</Value></DefineArg>

    <DefineArg Name="SettleTime"><Description>
        How long to wait between samples. This starts *before* the first sample.
    </Description><Units:minute/><Value>3</Value></DefineArg>

    <DefineArg Name="Speed"><Description>
        Vehicle speed while sampling. Set to zero to maintain depth using VBS (drift).
    </Description><Units:meter_per_second/><Value>0</Value></DefineArg>

    <DefineArg Name="ApproachDepth"><Description>
        Depth for initial descent form the surface. Initialized to 3 m.
    </Description><Units:meter/><Value>2</Value></DefineArg>

    <DefineArg Name="ApproachSpeed"><Description>
        Vehicle speed for initial descent form the surface to target depth. Set to zero
        to disable the thruster and descend using VBS (drift).
    </Description><Units:meter_per_second/><Value>0.7</Value></DefineArg>

    <DefineArg Name="ApproachDepthRate"><Description>
        Descent depth rate (Positive depth rate means going down).
    </Description><Units:meter_per_second/><Value>0.05</Value></DefineArg>

    <DefineArg Name="ApproachPitchLimit"><Description>
        Max vehicle pitch (+/-) when decending from the surface.
    </Description><Units:degree/><Value>10</Value></DefineArg>

    <DefineArg Name="ApproachSettleTimePreDive"><Description>
        Time duration for the vehicle to pump down the VBS *BEFORE* leaving the surface.
    </Description><Units:minute/><Value>0.2</Value></DefineArg>

    <DefineArg Name="ApproachSettleTimePostDive"><Description>
        Time duration for the vehicle to settele *AFTER* reaching the target depth.
    </Description><Units:minute/><Value>0.2</Value></DefineArg>

    <DefineArg Name="ApproachDepthTimeout"><Description>
        Maximum time duration for the vehicle to reach the target depth.
    </Description><Units:minute/><Value>15</Value></DefineArg>

    <DefineArg Name="kpDepth"><Description>
        Dive loop proportional gain (applied only while the vehicle is descending to target depth).
    </Description><Units:radian_per_meter/><Value>0.07</Value></DefineArg>

    <DefineArg Name="DepthDeadband"><Description>
        How much vertical drift from the specified depth is allowed while sampling.
    </Description><Units:meter/><Value>0.01</Value></DefineArg>

    <DefineArg Name="MinAltitude"><Description>
        Minimum height above the sea floor for the entire mission.
    </Description><Units:meter/><Value>2</Value></DefineArg>

    <DefineArg Name="MaxDepth"><Description>
        Maximum allowable depth during the mission.
    </Description><Units:meter/><Value>5</Value></DefineArg>

    <DefineArg Name="MinOffshore"><Description>
        Minimum distance from the shoreline to maintain.
    </Description><Units:kilometer/><Value>1</Value></DefineArg>

    <DefineOutput Name="ESPCartridgeType"><Description>
        Mission parameter (don't change). Specifies ESP cartridge type code.
    </Description><Units:count/><Value>NaN</Value></DefineOutput>
    
    <!-- Mission timeout -->

    <Timeout Duration="MissionTimeout"/>

    <!-- Safety nets and surfacing behaviors -->

    <Trigger:AbortSample>
        <Parallel/>
    </Trigger:AbortSample>

    <Insert Filename="Insert/StandardEnvelopes.xml"/>

    <Assign><Sequence/><Arg Name="StandardEnvelopes:MaxDepth"/><Arg Name="MaxDepth"/></Assign>

    <Assign><Sequence/><Arg Name="StandardEnvelopes:MinAltitude"/><Arg Name="MinAltitude"/></Assign>

    <Assign><Sequence/><Arg Name="StandardEnvelopes:MinOffshore"/><Arg Name="MinOffshore"/></Assign>


    <Insert Filename="Insert/NeedComms.xml" Id="NeedComms"/>

    <Assign><Sequence/><Arg Name="NeedComms:DiveInterval"/><Arg Name="MissionTimeout"/></Assign>

    <Assign><Sequence/><Arg Name="NeedComms:WaitForPitchUp"/><Units:minute/><Value>0</Value></Assign>


    <Assign><Parallel/><Control:VerticalControl.depthDeadband/><Arg Name="DepthDeadband"/></Assign>

        
    <!-- Callable aggregate -->

    <Aggregate Id="SampleESP">
        
        <When>
            <Called/>
        </When>

        <Aggregate Id="sample">
            <Sequence/>

            <Syslog Severity="Important">At <Universal:depth/><Units:meter/>, settling for <Arg Name="SettleTime"/><Units:minute/></Syslog>

            <Guidance:Wait>
                <Sequence/>
                <Setting><Guidance:Wait.duration/><Arg Name="SettleTime"/></Setting>
            </Guidance:Wait>

            <Syslog Severity="Important">Requesting ESP cartridge type:<Arg Name="ESPCartridgeType"/><Units:count/></Syslog>

            <Assign><Sequence/><Science:ESPComponent.cartridge/><Arg Name="ESPCartridgeType"/></Assign>

            <ReadDatum Id="TriggerESP">
                <Science:ESPComponent.sampling/>
            </ReadDatum>

            <Syslog Severity="Important">ESP sampling at <Universal:depth/><Units:meter/> in <Science:CTD_NeilBrown.bin_mean_sea_water_temperature/><Units:celsius/> water with <Science:WetLabsBB2FL.bin_mean_mass_concentration_of_chlorophyll_in_sea_water/><Units:microgram_per_liter/>chlorophyll fluorescence.</Syslog>

            <ReadDatum Id="WaitForESP">
                <Science:ESPComponent.sample_number/>
            </ReadDatum>
        </Aggregate>

    </Aggregate>


    <!-- Start mission sequence -->

    <Call Id="StartingMission" RefId="NeedComms"/>
    
    <Insert Filename="Insert/Science.xml"></Insert>

    <Aggregate Id="InitialDive">
        <Description>
            Descend from the surface to approach depth at ApproachSpeed, limit pitch,
            depth-rate, and hold the rudder.
        </Description>

        <Sequence/>

        <Assign><Parallel/><Control:VerticalControl.pitchLimit/><Arg Name="ApproachPitchLimit"/></Assign>

        <Assign><Parallel/><Control:VerticalControl.kpDepth/><Arg Name="kpDepth"/></Assign>

        <Guidance:Pitch>
            <Parallel/>
            <Setting><Guidance:Pitch.massPosition/><Control:VerticalControl.massDefault/></Setting>
        </Guidance:Pitch>

        <Guidance:Point>
            <Parallel/>
            <Setting><Guidance:Point.rudderAngle/><Units:degree/><Value>13</Value></Setting>
        </Guidance:Point>
        
        <Guidance:Buoyancy>
            <Parallel/>
            <Setting><Guidance:Buoyancy.position/><Control:VerticalControl.buoyancyNeutral/></Setting>
        </Guidance:Buoyancy>

        <Syslog Severity="Info">Waiting for <Arg Name="ApproachSettleTimePreDive"/><Units:minute/>while pumping down to neutral.</Syslog>

        <Guidance:Wait>
            <Description>Take a few moments to ensure the VBS reaches neutral.</Description>
            <Sequence/>
            <Setting><Guidance:Wait.duration/><Arg Name="ApproachSettleTimePreDive"/></Setting>
        </Guidance:Wait>

        <Syslog>Moving to <Arg Name="ApproachDepth"/><Units:meter/></Syslog>

        <Aggregate Id="ApproachDepth">

            <Sequence/>

            <Guidance:SetSpeed>
                <Parallel/>
                <Setting><Guidance:SetSpeed.speed/><Arg Name="ApproachSpeed"/></Setting>
            </Guidance:SetSpeed>

            <Guidance:Pitch>
                <Sequence/>

                <Timeout Duration="ApproachDepthTimeout">
                    <Syslog Severity="Important">Timed out while trying to reach target depth at current depth of <Universal:depth/><Units:meter/>.</Syslog>
                    <Guidance:Execute>
                        <Sequence/>
                        <Setting><Guidance:Execute.command/><String>stop</String></Setting>
                    </Guidance:Execute>
                </Timeout>

                <Setting><Guidance:Pitch.depth/><Arg Name="ApproachDepth"/></Setting>
                <Setting><Guidance:Pitch.depthRate/><Arg Name="ApproachDepthRate"/></Setting>
            </Guidance:Pitch>

        </Aggregate>

    </Aggregate>

    <Aggregate Id="SettleAtDepth">
        <Description>
            Take a few more moments here to ensure the vechile is settled at the target depth.
        </Description>

        <Sequence/>

        <Syslog Severity="Info">Reached <Universal:depth/><Units:meter/>, settling for <Arg Name="ApproachSettleTimePostDive"/><Units:minute/></Syslog>

        <Guidance:Pitch>
            <Parallel/>
            <Setting><Guidance:Pitch.depth/><Arg Name="TargetDepth"/></Setting>
        </Guidance:Pitch>

        <Guidance:Wait>
            <Sequence/>
            <Setting><Guidance:Wait.duration/><Arg Name="ApproachSettleTimePostDive"/></Setting>
        </Guidance:Wait>

    </Aggregate>

    <Aggregate Id="SampleAtTargetDepth">
        <Description>
            Maintain target depth and acquire ESP samples.
        </Description>

        <Sequence/>

        <Guidance:SetSpeed>
            <Parallel/>
            <Setting><Guidance:SetSpeed.speed/><Arg Name="Speed"/></Setting>
        </Guidance:SetSpeed>

        <Guidance:Pitch>
            <Parallel/>
            <Setting><Guidance:Pitch.depth/><Arg Name="TargetDepth"/></Setting>
        </Guidance:Pitch>
        
        <Aggregate Id="Spinout">
            <Description>
                A speed has been specified, spin in circels while sampling.
            </Description>
            
            <While>
                <Arg Name="Speed"/><Gt><Units:meter_per_second/><Value>0.0</Value></Gt>
            </While>
            
            <Guidance:Pitch Id="HoldMassPosition">
                <Parallel/>
                <Setting><Guidance:Pitch.massPosition/><Control:VerticalControl.massDefault/></Setting>
            </Guidance:Pitch>
            
            <Guidance:Buoyancy Id="HoldBuoyancyPosition">
                <Parallel/>
                <Setting><Guidance:Buoyancy.position/><Control:VerticalControl.buoyancyNeutral/></Setting>
            </Guidance:Buoyancy>

            <Guidance:Point Id="HoldRudderAngle">
                <Setting><Guidance:Point.rudderAngle/><Units:degree/><Value>13</Value></Setting>
            </Guidance:Point>

        </Aggregate>

        <Aggregate Id="GrabSamples">

            <Sequence/>

            <Aggregate Id="Sample1">
                <Break>
                    <IsNaN><Arg Name="ESPCartridgeType_1"/></IsNaN>
                </Break>

                <Assign><Sequence/><Arg Name="ESPCartridgeType"/><Arg Name="ESPCartridgeType_1"/></Assign>

                <Call RefId="SampleESP"/>
            </Aggregate>


            <Aggregate Id="Sample2">
                <Break>
                    <IsNaN><Arg Name="ESPCartridgeType_2"/></IsNaN>
                </Break>

                <Assign><Sequence/><Arg Name="ESPCartridgeType"/><Arg Name="ESPCartridgeType_2"/></Assign>

                <Call RefId="SampleESP"/>
            </Aggregate>


            <Aggregate Id="Sample3">
                <Break>
                    <IsNaN><Arg Name="ESPCartridgeType_3"/></IsNaN>
                </Break>
                
                <Assign><Sequence/><Arg Name="ESPCartridgeType"/><Arg Name="ESPCartridgeType_3"/></Assign>
                
                <Call RefId="SampleESP"/>
            </Aggregate>


            <Aggregate Id="Sample4">
                <Break>
                    <IsNaN><Arg Name="ESPCartridgeType_4"/></IsNaN>
                </Break>

                <Assign><Sequence/><Arg Name="ESPCartridgeType"/><Arg Name="ESPCartridgeType_4"/></Assign>

                <Call RefId="SampleESP"/>
            </Aggregate>

        </Aggregate>

    </Aggregate>

</Mission>


2019-07-30T19:45:38.726Z,1564515938.726 [Default] Stopped
2019-07-30T19:45:38.726Z,1564515938.726 [Default](DEBUG): Aggregate::uninitialize Default
2019-07-30T19:45:38.726Z,1564515938.726 [Default:A.Wait] Stopped
2019-07-30T19:45:38.726Z,1564515938.726 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2019-07-30T19:45:38.727Z,1564515938.727 [Default:B.GoToSurface] Stopped
2019-07-30T19:45:38.727Z,1564515938.727 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-07-30T19:45:38.727Z,1564515938.727 [MissionManager](IMPORTANT): Started mission esp_kiss
2019-07-30T19:45:38.727Z,1564515938.727 [esp_kiss] Running Loop=1
2019-07-30T19:45:38.727Z,1564515938.727 [esp_kiss](DEBUG): Aggregate::initialize esp_kiss
2019-07-30T19:45:38.727Z,1564515938.727 [esp_kiss:A.AbortSample] Running Loop=1
2019-07-30T19:45:38.727Z,1564515938.727 [esp_kiss:A.AbortSample](INFO): Initializing AbortSample.
2019-07-30T19:45:38.727Z,1564515938.727 [esp_kiss:StandardEnvelopes] Running Loop=1
2019-07-30T19:45:38.728Z,1564515938.728 [esp_kiss:StandardEnvelopes](DEBUG): Aggregate::initialize esp_kiss:StandardEnvelopes
2019-07-30T19:45:38.728Z,1564515938.728 [esp_kiss:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2019-07-30T19:45:38.728Z,1564515938.728 [esp_kiss:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2019-07-30T19:45:38.728Z,1564515938.728 [esp_kiss:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2019-07-30T19:45:38.728Z,1564515938.728 [esp_kiss:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2019-07-30T19:45:38.728Z,1564515938.728 [esp_kiss:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2019-07-30T19:45:38.728Z,1564515938.728 [esp_kiss:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2019-07-30T19:45:38.728Z,1564515938.728 [esp_kiss:I] Running Loop=1
2019-07-30T19:45:38.728Z,1564515938.728 [esp_kiss:Science] Running Loop=1
2019-07-30T19:45:38.728Z,1564515938.728 [esp_kiss:Science](DEBUG): Aggregate::initialize esp_kiss:Science
2019-07-30T19:45:38.733Z,1564515938.733 [esp_kiss:Science:A] Running Loop=1
2019-07-30T19:45:38.733Z,1564515938.733 [esp_kiss:Science:B] Running Loop=1
2019-07-30T19:45:38.733Z,1564515938.733 [esp_kiss:Science:C] Running Loop=1
2019-07-30T19:45:38.733Z,1564515938.733 [esp_kiss:Science:D] Running Loop=1
2019-07-30T19:45:38.733Z,1564515938.733 [esp_kiss:Science:E] Running Loop=1
2019-07-30T19:45:38.733Z,1564515938.733 [esp_kiss:Science:F] Running Loop=1
2019-07-30T19:45:38.733Z,1564515938.733 [esp_kiss:Science:G] Running Loop=1
2019-07-30T19:45:38.733Z,1564515938.733 [esp_kiss:Science:H] Running Loop=1
2019-07-30T19:45:38.733Z,1564515938.733 [esp_kiss:Science:Read_Oil] Running Loop=1
2019-07-30T19:45:38.733Z,1564515938.733 [esp_kiss:Science:PeakDetectChl] Running Loop=1
2019-07-30T19:45:38.734Z,1564515938.734 [esp_kiss:Science:PeakDetectChl](DEBUG): Aggregate::initialize esp_kiss:Science:PeakDetectChl
2019-07-30T19:45:38.734Z,1564515938.734 [esp_kiss:Science:PeakDetectChl:A.PeakDetectVsDepth] Running Loop=1
2019-07-30T19:45:38.734Z,1564515938.734 [esp_kiss:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Initialize.
2019-07-30T19:45:38.735Z,1564515938.735 [esp_kiss:Science:HighestChlPeakReport] Running Loop=1
2019-07-30T19:45:38.735Z,1564515938.735 [esp_kiss:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize esp_kiss:Science:HighestChlPeakReport
2019-07-30T19:45:38.735Z,1564515938.735 [esp_kiss:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2019-07-30T19:45:38.735Z,1564515938.735 [esp_kiss:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2019-07-30T19:45:38.736Z,1564515938.736 [esp_kiss:Science:PeakDetectNO3] Running Loop=1
2019-07-30T19:45:38.736Z,1564515938.736 [esp_kiss:Science:PeakDetectNO3](DEBUG): Aggregate::initialize esp_kiss:Science:PeakDetectNO3
2019-07-30T19:45:38.736Z,1564515938.736 [esp_kiss:Science:PeakDetectNO3:A.PeakDetectVsDepth] Running Loop=1
2019-07-30T19:45:38.736Z,1564515938.736 [esp_kiss:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Initialize.
2019-07-30T19:45:38.770Z,1564515938.770 [esp_kiss:Science:PeakDetectOil] Running Loop=1
2019-07-30T19:45:38.770Z,1564515938.770 [esp_kiss:Science:PeakDetectOil](DEBUG): Aggregate::initialize esp_kiss:Science:PeakDetectOil
2019-07-30T19:45:38.770Z,1564515938.770 [esp_kiss:Science:PeakDetectOil:A.PeakDetectVsDepth] Running Loop=1
2019-07-30T19:45:38.770Z,1564515938.770 [esp_kiss:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Initialize.
2019-07-30T19:45:38.771Z,1564515938.771 [esp_kiss:Science:PeakDetectFDOM] Running Loop=1
2019-07-30T19:45:38.771Z,1564515938.771 [esp_kiss:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize esp_kiss:Science:PeakDetectFDOM
2019-07-30T19:45:38.772Z,1564515938.772 [esp_kiss:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Running Loop=1
2019-07-30T19:45:38.772Z,1564515938.772 [esp_kiss:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Initialize.
2019-07-30T19:45:38.801Z,1564515938.801 [esp_kiss:C] Running Loop=1
2019-07-30T19:45:38.802Z,1564515938.802 [esp_kiss:Science] Running Loop=1
2019-07-30T19:45:38.803Z,1564515938.803 [esp_kiss:Science:PeakDetectFDOM] Stopped
2019-07-30T19:45:38.803Z,1564515938.803 [esp_kiss:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize esp_kiss:Science:PeakDetectFDOM
2019-07-30T19:45:38.803Z,1564515938.803 [esp_kiss:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Stopped
2019-07-30T19:45:38.803Z,1564515938.803 [esp_kiss:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2019-07-30T19:45:38.803Z,1564515938.803 [esp_kiss:Science:PeakDetectOil] Stopped
2019-07-30T19:45:38.803Z,1564515938.803 [esp_kiss:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize esp_kiss:Science:PeakDetectOil
2019-07-30T19:45:38.803Z,1564515938.803 [esp_kiss:Science:PeakDetectOil:A.PeakDetectVsDepth] Stopped
2019-07-30T19:45:38.803Z,1564515938.803 [esp_kiss:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2019-07-30T19:45:38.803Z,1564515938.803 [esp_kiss:Science:PeakDetectNO3] Stopped
2019-07-30T19:45:38.803Z,1564515938.803 [esp_kiss:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize esp_kiss:Science:PeakDetectNO3
2019-07-30T19:45:38.804Z,1564515938.804 [esp_kiss:Science:PeakDetectNO3:A.PeakDetectVsDepth] Stopped
2019-07-30T19:45:38.804Z,1564515938.804 [esp_kiss:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2019-07-30T19:45:38.804Z,1564515938.804 [esp_kiss:Science:HighestChlPeakReport] Stopped
2019-07-30T19:45:38.804Z,1564515938.804 [esp_kiss:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize esp_kiss:Science:HighestChlPeakReport
2019-07-30T19:45:38.804Z,1564515938.804 [esp_kiss:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2019-07-30T19:45:38.804Z,1564515938.804 [esp_kiss:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2019-07-30T19:45:38.804Z,1564515938.804 [esp_kiss:Science:PeakDetectChl] Stopped
2019-07-30T19:45:38.804Z,1564515938.804 [esp_kiss:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize esp_kiss:Science:PeakDetectChl
2019-07-30T19:45:38.804Z,1564515938.804 [esp_kiss:Science:PeakDetectChl:A.PeakDetectVsDepth] Stopped
2019-07-30T19:45:38.804Z,1564515938.804 [esp_kiss:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2019-07-30T19:45:38.804Z,1564515938.804 [esp_kiss:Science:Read_Oil] Stopped
2019-07-30T19:45:38.804Z,1564515938.804 [esp_kiss:Science:H] Stopped
2019-07-30T19:45:38.804Z,1564515938.804 [esp_kiss:Science:G] Stopped
2019-07-30T19:45:38.804Z,1564515938.804 [esp_kiss:Science:F] Stopped
2019-07-30T19:45:38.804Z,1564515938.804 [esp_kiss:Science:E] Stopped
2019-07-30T19:45:38.833Z,1564515938.833 [esp_kiss:Science:D] Stopped
2019-07-30T19:45:38.833Z,1564515938.833 [esp_kiss:Science:C] Stopped
2019-07-30T19:45:38.833Z,1564515938.833 [esp_kiss:Science:B] Stopped
2019-07-30T19:45:38.834Z,1564515938.834 [esp_kiss:Science:A] Stopped
2019-07-30T19:45:38.834Z,1564515938.834 [esp_kiss:I] Running Loop=1
2019-07-30T19:45:38.834Z,1564515938.834 [esp_kiss:C] Stopped
2019-07-30T19:45:38.834Z,1564515938.834 [esp_kiss:D] Running Loop=1
2019-07-30T19:45:38.834Z,1564515938.834 [esp_kiss:StandardEnvelopes] Running Loop=1
2019-07-30T19:45:38.834Z,1564515938.834 [esp_kiss:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2019-07-30T19:45:38.835Z,1564515938.835 [esp_kiss:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2019-07-30T19:45:38.835Z,1564515938.835 [esp_kiss:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2019-07-30T19:45:38.835Z,1564515938.835 [esp_kiss:A.AbortSample] Running Loop=1
2019-07-30T19:45:39.149Z,1564515939.149 [esp_kiss:D] Stopped
2019-07-30T19:45:39.149Z,1564515939.149 [esp_kiss:E] Running Loop=1
2019-07-30T19:45:39.507Z,1564515939.507 [esp_kiss:E] Stopped
2019-07-30T19:45:39.508Z,1564515939.508 [esp_kiss:G] Running Loop=1
2019-07-30T19:45:39.908Z,1564515939.908 [esp_kiss:G] Stopped
2019-07-30T19:45:39.908Z,1564515939.908 [esp_kiss:H] Running Loop=1
2019-07-30T19:45:40.119Z,1564515940.119 [CommandLine](IMPORTANT): Running ./Missions/Science/esp_kiss.xml
2019-07-30T19:45:40.318Z,1564515940.318 [esp_kiss:H] Stopped
2019-07-30T19:45:40.318Z,1564515940.318 [esp_kiss:StartingMission] Running Loop=1
2019-07-30T19:45:40.319Z,1564515940.319 [esp_kiss:StartingMission](DEBUG): Aggregate::initialize esp_kiss:StartingMission
2019-07-30T19:45:40.319Z,1564515940.319 [esp_kiss:StandardEnvelopes:A.AltitudeEnvelope](ERROR): Altitude Measurement is not Active.
2019-07-30T19:45:40.713Z,1564515940.713 [esp_kiss:NeedComms] Running Loop=1
2019-07-30T19:45:40.713Z,1564515940.713 [esp_kiss:NeedComms](DEBUG): Aggregate::initialize esp_kiss:NeedComms
2019-07-30T19:45:40.714Z,1564515940.714 [esp_kiss:NeedComms:B.GoToSurface] Running Loop=1
2019-07-30T19:45:40.714Z,1564515940.714 [esp_kiss:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-07-30T19:45:40.714Z,1564515940.714 [esp_kiss:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2019-07-30T19:45:40.714Z,1564515940.714 [esp_kiss:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2019-07-30T19:45:40.715Z,1564515940.715 [esp_kiss:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2019-07-30T19:45:40.715Z,1564515940.715 [esp_kiss:NeedComms:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-07-30T19:45:40.715Z,1564515940.715 [esp_kiss:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-07-30T19:45:40.716Z,1564515940.716 [esp_kiss:NeedComms:A] Running Loop=1
2019-07-30T19:45:40.717Z,1564515940.717 [esp_kiss:NeedComms:A](INFO): last time_fix was: 1564515840.000000 second since 1970/01/01T00:00:00Z 
2019-07-30T19:45:40.717Z,1564515940.717 [esp_kiss:NeedComms:A] Stopped
2019-07-30T19:45:55.066Z,1564515955.066 [CommandLine](IMPORTANT): got command get depth
2019-07-30T19:45:55.067Z,1564515955.067 [CommandLine](IMPORTANT): depth 3.000000 m
2019-07-30T19:46:00.331Z,1564515960.331 [CommandLine](IMPORTANT): got command maintain clear
2019-07-30T19:46:00.527Z,1564515960.527 [controlThread](DEBUG): Component order: CycleStarter,Depth_Keller,NAL9602,Onboard,BPC1,ESPComponent,PAR_Licor,Depth_Keller,PAR_Licor,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,LogSplitter,
2019-07-30T19:46:00.917Z,1564515960.917 [esp_kiss:NeedComms:C] Running Loop=1
2019-07-30T19:46:01.313Z,1564515961.313 [esp_kiss:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2019-07-30T19:46:02.513Z,1564515962.513 [NAL9602](DEBUG): Fix Requested
2019-07-30T19:46:10.347Z,1564515970.347 [CommandLine](IMPORTANT): got command maintain sensor NAL9602.latitude_fix 36.797001 degree
2019-07-30T19:46:10.348Z,1564515970.348 [ComponentRegistry](DEBUG): SyncComponent "Maintain_NAL9602.latitude_fix" handled in the control thread.
2019-07-30T19:46:10.349Z,1564515970.349 [CommandLine](IMPORTANT): got command maintain sensor NAL9602.longitude_fix -121.847000 degree
2019-07-30T19:46:10.350Z,1564515970.350 [ComponentRegistry](DEBUG): SyncComponent "Maintain_NAL9602.longitude_fix" handled in the control thread.
2019-07-30T19:46:10.638Z,1564515970.638 [controlThread](DEBUG): Component order: CycleStarter,Depth_Keller,NAL9602,Onboard,BPC1,ESPComponent,PAR_Licor,Depth_Keller,PAR_Licor,Maintain_NAL9602.latitude_fix,Maintain_NAL9602.longitude_fix,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,LogSplitter,
2019-07-30T19:46:18.310Z,1564515978.310 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-07-30T19:46:18.310Z,1564515978.310 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 1
2019-07-30T19:46:18.310Z,1564515978.310 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-07-30T19:46:18.323Z,1564515978.323 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-07-30T19:46:18.707Z,1564515978.707 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-07-30T19:46:18.708Z,1564515978.708 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 1
2019-07-30T19:46:23.582Z,1564515983.582 [CommandLine](IMPORTANT): got command set NAL9602.time_fix 1564515968.000000 second
2019-07-30T19:46:23.986Z,1564515983.986 [esp_kiss:NeedComms:C] Stopped
2019-07-30T19:46:23.986Z,1564515983.986 [esp_kiss:NeedComms:D] Running Loop=1
2019-07-30T19:46:24.365Z,1564515984.365 [esp_kiss:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2019-07-30T19:46:25.273Z,1564515985.273 [DataOverHttps](INFO): Sending 43 bytes from file Logs/20190730T190859/Courier0013.lzma
2019-07-30T19:46:26.086Z,1564515986.086 [DataOverHttps](INFO): Moved sent file to Logs/20190730T190859/Courier0013.lzma.bak
2019-07-30T19:46:26.086Z,1564515986.086 [DataOverHttps](INFO): SBD MOMSN=11483626
2019-07-30T19:46:40.070Z,1564516000.070 [DataOverHttps](INFO): Sending 957 bytes from file Logs/20190730T190859/Express0014.lzma
2019-07-30T19:46:40.874Z,1564516000.874 [DataOverHttps](INFO): Moved sent file to Logs/20190730T190859/Express0014.lzma.bak
2019-07-30T19:46:40.874Z,1564516000.874 [DataOverHttps](INFO): SBD MOMSN=11483628
2019-07-30T19:46:42.656Z,1564516002.656 [esp_kiss:NeedComms:D] Stopped
2019-07-30T19:46:42.656Z,1564516002.656 [esp_kiss:NeedComms:E] Running Loop=1
2019-07-30T19:46:43.065Z,1564516003.065 [esp_kiss:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2019-07-30T19:47:03.342Z,1564516023.342 [CommandLine](IMPORTANT): got command set NAL9602.time_fix 1564515968.000000 second
2019-07-30T19:47:03.631Z,1564516023.631 [esp_kiss:NeedComms:E] Stopped
2019-07-30T19:47:03.631Z,1564516023.631 [esp_kiss:NeedComms](INFO): Completed esp_kiss:NeedComms
2019-07-30T19:47:03.631Z,1564516023.631 [esp_kiss:NeedComms] Stopped
2019-07-30T19:47:03.631Z,1564516023.631 [esp_kiss:NeedComms](DEBUG): Aggregate::uninitialize esp_kiss:NeedComms
2019-07-30T19:47:03.631Z,1564516023.631 [esp_kiss:NeedComms:B.GoToSurface] Stopped
2019-07-30T19:47:03.632Z,1564516023.632 [esp_kiss:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-07-30T19:47:04.041Z,1564516024.041 [esp_kiss:StartingMission](INFO): Completed esp_kiss:StartingMission
2019-07-30T19:47:04.042Z,1564516024.042 [esp_kiss:StartingMission] Stopped
2019-07-30T19:47:04.042Z,1564516024.042 [esp_kiss:StartingMission](DEBUG): Aggregate::uninitialize esp_kiss:StartingMission
2019-07-30T19:47:04.042Z,1564516024.042 [esp_kiss:InitialDive] Running Loop=1
2019-07-30T19:47:04.042Z,1564516024.042 [esp_kiss:InitialDive](DEBUG): Aggregate::initialize esp_kiss:InitialDive
2019-07-30T19:47:04.042Z,1564516024.042 [esp_kiss:InitialDive:A] Running Loop=1
2019-07-30T19:47:04.042Z,1564516024.042 [esp_kiss:InitialDive:B] Running Loop=1
2019-07-30T19:47:04.042Z,1564516024.042 [esp_kiss:InitialDive:C.Pitch] Running Loop=1
2019-07-30T19:47:04.042Z,1564516024.042 [esp_kiss:InitialDive:C.Pitch](DEBUG): Initialize.
2019-07-30T19:47:04.042Z,1564516024.042 [esp_kiss:InitialDive:D.Point] Running Loop=1
2019-07-30T19:47:04.042Z,1564516024.042 [esp_kiss:InitialDive:D.Point](DEBUG): Initialize.
2019-07-30T19:47:04.043Z,1564516024.043 [esp_kiss:InitialDive:E.Buoyancy] Running Loop=1
2019-07-30T19:47:04.043Z,1564516024.043 [esp_kiss:InitialDive:E.Buoyancy](DEBUG): Initialize Buoyancy Component.
2019-07-30T19:47:04.043Z,1564516024.043 [esp_kiss:InitialDive:F] Running Loop=1
2019-07-30T19:47:04.452Z,1564516024.452 [esp_kiss:InitialDive:F](INFO): Waiting for 0.200000 min while pumping down to neutral.
2019-07-30T19:47:04.452Z,1564516024.452 [esp_kiss:InitialDive:F] Stopped
2019-07-30T19:47:04.452Z,1564516024.452 [esp_kiss:InitialDive:G.Wait] Running Loop=1
2019-07-30T19:47:04.452Z,1564516024.452 [esp_kiss:InitialDive:G.Wait](DEBUG): Initialize Wait Component.
2019-07-30T19:47:04.452Z,1564516024.452 [esp_kiss:InitialDive:E.Buoyancy] Running Loop=1
2019-07-30T19:47:04.453Z,1564516024.453 [esp_kiss:InitialDive:D.Point] Running Loop=1
2019-07-30T19:47:04.453Z,1564516024.453 [esp_kiss:InitialDive:C.Pitch] Running Loop=1
2019-07-30T19:47:04.453Z,1564516024.453 [esp_kiss:InitialDive:B] Running Loop=1
2019-07-30T19:47:04.453Z,1564516024.453 [esp_kiss:InitialDive:A] Running Loop=1
2019-07-30T19:47:16.961Z,1564516036.961 [esp_kiss:InitialDive:G.Wait](INFO): Done Waiting.
2019-07-30T19:47:16.961Z,1564516036.961 [esp_kiss:InitialDive:G.Wait] Stopped
2019-07-30T19:47:16.961Z,1564516036.961 [esp_kiss:InitialDive:G.Wait](DEBUG): Uninitialize Wait Component.
2019-07-30T19:47:16.961Z,1564516036.961 [esp_kiss:InitialDive:H] Running Loop=1
2019-07-30T19:47:17.385Z,1564516037.385 [esp_kiss:InitialDive:H](INFO): Moving to 2.000000 m 
2019-07-30T19:47:17.385Z,1564516037.385 [esp_kiss:InitialDive:H] Stopped
2019-07-30T19:47:17.385Z,1564516037.385 [esp_kiss:InitialDive:ApproachDepth] Running Loop=1
2019-07-30T19:47:17.385Z,1564516037.385 [esp_kiss:InitialDive:ApproachDepth](DEBUG): Aggregate::initialize esp_kiss:InitialDive:ApproachDepth
2019-07-30T19:47:17.385Z,1564516037.385 [esp_kiss:InitialDive:ApproachDepth:A.SetSpeed] Running Loop=1
2019-07-30T19:47:17.386Z,1564516037.386 [esp_kiss:InitialDive:ApproachDepth:A.SetSpeed](DEBUG): Initialize.
2019-07-30T19:47:17.386Z,1564516037.386 [esp_kiss:InitialDive:ApproachDepth:B.Pitch] Running Loop=1
2019-07-30T19:47:17.386Z,1564516037.386 [esp_kiss:InitialDive:ApproachDepth:B.Pitch](DEBUG): Initialize.
2019-07-30T19:47:17.789Z,1564516037.789 [esp_kiss:InitialDive:ApproachDepth:A.SetSpeed] Running Loop=1
2019-07-30T19:47:18.371Z,1564516038.371 [CommandLine](IMPORTANT): got command maintain sensor DepthRateCalculator.depth_rate 0.001000 meter_per_second
2019-07-30T19:47:18.372Z,1564516038.372 [ComponentRegistry](DEBUG): SyncComponent "Maintain_DepthRateCalculator.depth_rate" handled in the control thread.
2019-07-30T19:47:18.372Z,1564516038.372 [CommandLine](IMPORTANT): got command maintain sensor Depth_Keller.depth 2.000000 meter
2019-07-30T19:47:18.373Z,1564516038.373 [ComponentRegistry](DEBUG): SyncComponent "Maintain_Depth_Keller.depth" handled in the control thread.
2019-07-30T19:47:18.734Z,1564516038.734 [controlThread](DEBUG): Component order: CycleStarter,Depth_Keller,NAL9602,Onboard,BPC1,ESPComponent,PAR_Licor,Depth_Keller,PAR_Licor,Maintain_NAL9602.latitude_fix,Maintain_NAL9602.longitude_fix,Maintain_DepthRateCalculator.depth_rate,Maintain_Depth_Keller.depth,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,LogSplitter,
2019-07-30T19:47:18.990Z,1564516038.990 [esp_kiss:InitialDive:ApproachDepth:B.Pitch] Stopped
2019-07-30T19:47:18.991Z,1564516038.991 [esp_kiss:InitialDive:ApproachDepth](INFO): Completed esp_kiss:InitialDive:ApproachDepth
2019-07-30T19:47:18.991Z,1564516038.991 [esp_kiss:InitialDive:ApproachDepth] Stopped
2019-07-30T19:47:18.991Z,1564516038.991 [esp_kiss:InitialDive:ApproachDepth](DEBUG): Aggregate::uninitialize esp_kiss:InitialDive:ApproachDepth
2019-07-30T19:47:18.991Z,1564516038.991 [esp_kiss:InitialDive:ApproachDepth:A.SetSpeed] Stopped
2019-07-30T19:47:18.991Z,1564516038.991 [esp_kiss:InitialDive:ApproachDepth:A.SetSpeed](DEBUG): Uninitialize.
2019-07-30T19:47:18.992Z,1564516038.992 [esp_kiss:InitialDive](INFO): Completed esp_kiss:InitialDive
2019-07-30T19:47:18.992Z,1564516038.992 [esp_kiss:InitialDive] Stopped
2019-07-30T19:47:18.992Z,1564516038.992 [esp_kiss:InitialDive](DEBUG): Aggregate::uninitialize esp_kiss:InitialDive
2019-07-30T19:47:18.992Z,1564516038.992 [esp_kiss:InitialDive:A] Stopped
2019-07-30T19:47:18.993Z,1564516038.993 [esp_kiss:InitialDive:B] Stopped
2019-07-30T19:47:18.993Z,1564516038.993 [esp_kiss:InitialDive:C.Pitch] Stopped
2019-07-30T19:47:18.993Z,1564516038.993 [esp_kiss:InitialDive:D.Point] Stopped
2019-07-30T19:47:18.993Z,1564516038.993 [esp_kiss:InitialDive:E.Buoyancy] Stopped
2019-07-30T19:47:18.993Z,1564516038.993 [esp_kiss:InitialDive:E.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2019-07-30T19:47:18.993Z,1564516038.993 [esp_kiss:SettleAtDepth] Running Loop=1
2019-07-30T19:47:18.993Z,1564516038.993 [esp_kiss:SettleAtDepth](DEBUG): Aggregate::initialize esp_kiss:SettleAtDepth
2019-07-30T19:47:18.993Z,1564516038.993 [esp_kiss:SettleAtDepth:B.Pitch] Running Loop=1
2019-07-30T19:47:18.993Z,1564516038.993 [esp_kiss:SettleAtDepth:B.Pitch](DEBUG): Initialize.
2019-07-30T19:47:18.994Z,1564516038.994 [esp_kiss:SettleAtDepth:A] Running Loop=1
2019-07-30T19:47:19.392Z,1564516039.392 [esp_kiss:SettleAtDepth:B.Pitch] Running Loop=1
2019-07-30T19:47:19.394Z,1564516039.394 [esp_kiss:SettleAtDepth:A](INFO): Reached 2.000000 m , settling for 0.200000 min 
2019-07-30T19:47:19.394Z,1564516039.394 [esp_kiss:SettleAtDepth:A] Stopped
2019-07-30T19:47:19.394Z,1564516039.394 [esp_kiss:SettleAtDepth:C.Wait] Running Loop=1
2019-07-30T19:47:19.394Z,1564516039.394 [esp_kiss:SettleAtDepth:C.Wait](DEBUG): Initialize Wait Component.
2019-07-30T19:47:27.910Z,1564516047.910 [CommandLine](IMPORTANT): got command maintain sensor Depth_Keller.depth 3.000000 meter
2019-07-30T19:47:31.921Z,1564516051.921 [esp_kiss:SettleAtDepth:C.Wait](INFO): Done Waiting.
2019-07-30T19:47:31.921Z,1564516051.921 [esp_kiss:SettleAtDepth:C.Wait] Stopped
2019-07-30T19:47:31.921Z,1564516051.921 [esp_kiss:SettleAtDepth:C.Wait](DEBUG): Uninitialize Wait Component.
2019-07-30T19:47:31.922Z,1564516051.922 [esp_kiss:SettleAtDepth](INFO): Completed esp_kiss:SettleAtDepth
2019-07-30T19:47:31.922Z,1564516051.922 [esp_kiss:SettleAtDepth] Stopped
2019-07-30T19:47:31.922Z,1564516051.922 [esp_kiss:SettleAtDepth](DEBUG): Aggregate::uninitialize esp_kiss:SettleAtDepth
2019-07-30T19:47:31.922Z,1564516051.922 [esp_kiss:SettleAtDepth:B.Pitch] Stopped
2019-07-30T19:47:31.922Z,1564516051.922 [esp_kiss:SampleAtTargetDepth] Running Loop=1
2019-07-30T19:47:31.922Z,1564516051.922 [esp_kiss:SampleAtTargetDepth](DEBUG): Aggregate::initialize esp_kiss:SampleAtTargetDepth
2019-07-30T19:47:31.923Z,1564516051.923 [esp_kiss:SampleAtTargetDepth:A.SetSpeed] Running Loop=1
2019-07-30T19:47:31.923Z,1564516051.923 [esp_kiss:SampleAtTargetDepth:A.SetSpeed](DEBUG): Initialize.
2019-07-30T19:47:31.923Z,1564516051.923 [esp_kiss:SampleAtTargetDepth:B.Pitch] Running Loop=1
2019-07-30T19:47:31.923Z,1564516051.923 [esp_kiss:SampleAtTargetDepth:B.Pitch](DEBUG): Initialize.
2019-07-30T19:47:31.923Z,1564516051.923 [esp_kiss:SampleAtTargetDepth:Spinout] Running Loop=1
2019-07-30T19:47:31.923Z,1564516051.923 [esp_kiss:SampleAtTargetDepth:Spinout](DEBUG): Aggregate::initialize esp_kiss:SampleAtTargetDepth:Spinout
2019-07-30T19:47:31.923Z,1564516051.923 [esp_kiss:SampleAtTargetDepth:Spinout:HoldMassPosition.Pitch] Running Loop=1
2019-07-30T19:47:31.923Z,1564516051.923 [esp_kiss:SampleAtTargetDepth:Spinout:HoldMassPosition.Pitch](DEBUG): Initialize.
2019-07-30T19:47:31.923Z,1564516051.923 [esp_kiss:SampleAtTargetDepth:Spinout:HoldBuoyancyPosition.Buoyancy] Running Loop=1
2019-07-30T19:47:31.923Z,1564516051.923 [esp_kiss:SampleAtTargetDepth:Spinout:HoldBuoyancyPosition.Buoyancy](DEBUG): Initialize Buoyancy Component.
2019-07-30T19:47:31.924Z,1564516051.924 [esp_kiss:SampleAtTargetDepth:Spinout:HoldRudderAngle.Point] Running Loop=1
2019-07-30T19:47:31.924Z,1564516051.924 [esp_kiss:SampleAtTargetDepth:Spinout:HoldRudderAngle.Point](DEBUG): Initialize.
2019-07-30T19:47:31.924Z,1564516051.924 [esp_kiss:SampleAtTargetDepth:GrabSamples] Running Loop=1
2019-07-30T19:47:31.924Z,1564516051.924 [esp_kiss:SampleAtTargetDepth:GrabSamples](DEBUG): Aggregate::initialize esp_kiss:SampleAtTargetDepth:GrabSamples
2019-07-30T19:47:31.924Z,1564516051.924 [esp_kiss:SampleAtTargetDepth:GrabSamples:Sample1] Running Loop=1
2019-07-30T19:47:31.924Z,1564516051.924 [esp_kiss:SampleAtTargetDepth:GrabSamples:Sample1](DEBUG): Aggregate::initialize esp_kiss:SampleAtTargetDepth:GrabSamples:Sample1
2019-07-30T19:47:31.924Z,1564516051.924 [esp_kiss:SampleAtTargetDepth:GrabSamples:Sample1:A] Running Loop=1
2019-07-30T19:47:32.321Z,1564516052.321 [esp_kiss:SampleAtTargetDepth:GrabSamples:Sample1:A] Stopped
2019-07-30T19:47:32.321Z,1564516052.321 [esp_kiss:SampleAtTargetDepth:GrabSamples:Sample1:B] Running Loop=1
2019-07-30T19:47:32.321Z,1564516052.321 [esp_kiss:SampleAtTargetDepth:GrabSamples:Sample1:B](DEBUG): Aggregate::initialize esp_kiss:SampleAtTargetDepth:GrabSamples:Sample1:B
2019-07-30T19:47:32.322Z,1564516052.322 [esp_kiss:SampleAtTargetDepth:Spinout] Stopped
2019-07-30T19:47:32.322Z,1564516052.322 [esp_kiss:SampleAtTargetDepth:Spinout](DEBUG): Aggregate::uninitialize esp_kiss:SampleAtTargetDepth:Spinout
2019-07-30T19:47:32.322Z,1564516052.322 [esp_kiss:SampleAtTargetDepth:Spinout:HoldMassPosition.Pitch] Stopped
2019-07-30T19:47:32.322Z,1564516052.322 [esp_kiss:SampleAtTargetDepth:Spinout:HoldBuoyancyPosition.Buoyancy] Stopped
2019-07-30T19:47:32.322Z,1564516052.322 [esp_kiss:SampleAtTargetDepth:Spinout:HoldBuoyancyPosition.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2019-07-30T19:47:32.322Z,1564516052.322 [esp_kiss:SampleAtTargetDepth:Spinout:HoldRudderAngle.Point] Stopped
2019-07-30T19:47:32.322Z,1564516052.322 [esp_kiss:SampleAtTargetDepth:B.Pitch] Running Loop=1
2019-07-30T19:47:32.322Z,1564516052.322 [esp_kiss:SampleAtTargetDepth:A.SetSpeed] Running Loop=1
2019-07-30T19:47:32.723Z,1564516052.723 [esp_kiss:SampleESP] Running Loop=1
2019-07-30T19:47:32.723Z,1564516052.723 [esp_kiss:SampleESP](DEBUG): Aggregate::initialize esp_kiss:SampleESP
2019-07-30T19:47:32.723Z,1564516052.723 [esp_kiss:SampleESP:sample] Running Loop=1
2019-07-30T19:47:32.723Z,1564516052.723 [esp_kiss:SampleESP:sample](DEBUG): Aggregate::initialize esp_kiss:SampleESP:sample
2019-07-30T19:47:32.723Z,1564516052.723 [esp_kiss:SampleESP:sample:A] Running Loop=1
2019-07-30T19:47:32.724Z,1564516052.724 [esp_kiss:SampleESP:sample:A](IMPORTANT): At 3.000000 m , settling for 3.000000 min 
2019-07-30T19:47:32.724Z,1564516052.724 [esp_kiss:SampleESP:sample:A] Stopped
2019-07-30T19:47:32.724Z,1564516052.724 [esp_kiss:SampleESP:sample:B.Wait] Running Loop=1
2019-07-30T19:47:32.724Z,1564516052.724 [esp_kiss:SampleESP:sample:B.Wait](DEBUG): Initialize Wait Component.
2019-07-30T19:48:19.182Z,1564516099.182 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-07-30T19:48:19.182Z,1564516099.182 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 1
2019-07-30T19:48:19.182Z,1564516099.182 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-07-30T19:48:19.196Z,1564516099.196 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-07-30T19:48:19.602Z,1564516099.602 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-07-30T19:48:19.602Z,1564516099.602 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 1
2019-07-30T19:48:27.301Z,1564516107.301 [Radio_Surface](INFO): Powering down
2019-07-30T19:48:52.437Z,1564516132.437 [DataOverHttps](INFO): Exceeded connection timeout, disconnecting.
2019-07-30T19:48:52.841Z,1564516132.841 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2019-07-30T19:50:20.382Z,1564516220.382 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-07-30T19:50:20.382Z,1564516220.382 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 2
2019-07-30T19:50:20.382Z,1564516220.382 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-07-30T19:50:20.549Z,1564516220.549 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-07-30T19:50:20.798Z,1564516220.798 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-07-30T19:50:20.798Z,1564516220.798 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 2
2019-07-30T19:50:33.330Z,1564516233.330 [esp_kiss:SampleESP:sample:B.Wait](INFO): Done Waiting.
2019-07-30T19:50:33.330Z,1564516233.330 [esp_kiss:SampleESP:sample:B.Wait] Stopped
2019-07-30T19:50:33.330Z,1564516233.330 [esp_kiss:SampleESP:sample:B.Wait](DEBUG): Uninitialize Wait Component.
2019-07-30T19:50:33.330Z,1564516233.330 [esp_kiss:SampleESP:sample:C] Running Loop=1
2019-07-30T19:50:33.712Z,1564516233.712 [esp_kiss:SampleESP:sample:C](IMPORTANT): Requesting ESP cartridge type: -4.000000 count 
2019-07-30T19:50:33.712Z,1564516233.712 [esp_kiss:SampleESP:sample:C] Stopped
2019-07-30T19:50:33.712Z,1564516233.712 [esp_kiss:SampleESP:sample:D] Running Loop=1
2019-07-30T19:50:34.126Z,1564516234.126 [esp_kiss:SampleESP:sample:D] Stopped
2019-07-30T19:50:34.127Z,1564516234.127 [esp_kiss:SampleESP:sample:TriggerESP] Running Loop=1
2019-07-30T19:50:34.520Z,1564516234.520 [esp_kiss:SampleESP:sample:TriggerESP](DEBUG): Initialize ReadDataComponent to sense ESPComponent.sampling
2019-07-30T19:50:35.321Z,1564516235.321 [ESPComponent](IMPORTANT): Setting regex for ESP Log summary: 'Selecting Cartridge|Sampled|Error|Underpressure|Overpressure|Fail|Retry|Cmd::|Sampler::'
2019-07-30T19:50:35.324Z,1564516235.324 [ESPComponent](INFO): compiled regex: "Selecting Cartridge|Sampled|Error|Underpressure|Overpressure|Fail|Retry|Cmd::|Sampler::"
2019-07-30T19:50:35.728Z,1564516235.728 [ESPComponent](INFO): powering up ESP
2019-07-30T19:50:35.745Z,1564516235.745 [ESPComponent](INFO): powering up ESP secondary power supply
2019-07-30T19:50:35.761Z,1564516235.761 [ESPComponent](IMPORTANT): Starting PPPD with command:/sbin/pppd xonxoff asyncmap A0000 /dev/ttyTX1 linkname esp noauth local lock 115200 10.89.8.2:10.89.8.3 persist maxfail 0 holdoff 10 lcp-echo-interval 60 lcp-echo-failure 3 proxyarp ktune deflate 12 ms-dns 8.8.8.8
2019-07-30T19:50:36.036Z,1564516236.036 [ESPComponent](IMPORTANT): Waiting for ESP to connect (timeout=150.0000)
2019-07-30T19:50:36.185Z,1564516236.185 [Radio_Surface](INFO): Powering up
2019-07-30T19:50:36.236Z,1564516236.236 [ESPComponent](INFO): console:
2019-07-30T19:50:36.948Z,1564516236.948 [ESPComponent](INFO): console:

2019-07-30T19:50:37.358Z,1564516237.358 [ESPComponent](INFO): console:NAND:  256 MiB
2019-07-30T19:50:37.766Z,1564516237.766 [ESPComponent](INFO): console:
BOOTMODE: SDMMC
2019-07-30T19:50:38.159Z,1564516238.159 [ESPComponent](INFO): console:

2019-07-30T19:50:38.553Z,1564516238.553 [ESPComponent](INFO): console:

2019-07-30T19:50:38.970Z,1564516238.970 [ESPComponent](INFO): console:
U-Boot 2009.11-mbariC (Apr 02 2019 - 18:00:17)
2019-07-30T19:50:39.366Z,1564516239.366 [ESPComponent](INFO): console:

2019-07-30T19:50:39.777Z,1564516239.777 [ESPComponent](INFO): console:
MBARI LPC31xx ESP 3G
2019-07-30T19:50:40.170Z,1564516240.170 [ESPComponent](INFO): console:
flash params are already written into flash
2019-07-30T19:50:40.569Z,1564516240.569 [ESPComponent](INFO): console:
4 MB
2019-07-30T19:50:40.977Z,1564516240.977 [ESPComponent](INFO): console:
In:    serial
2019-07-30T19:50:41.381Z,1564516241.381 [ESPComponent](INFO): console:
Out:   serial
2019-07-30T19:50:41.517Z,1564516241.517 [DataOverHttps](INFO): Radio surface powered ON.
2019-07-30T19:50:41.792Z,1564516241.792 [ESPComponent](INFO): console:
Err:   serial
2019-07-30T19:50:42.203Z,1564516242.203 [ESPComponent](INFO): console:
Net:   ks8851_mll
2019-07-30T19:50:42.245Z,1564516242.245 [Radio_Surface](INFO): Powering down
2019-07-30T19:50:42.605Z,1564516242.605 [ESPComponent](INFO): console:
Hit <ctrl-C> to stop autoboot:  1  0 
2019-07-30T19:50:43.013Z,1564516243.013 [ESPComponent](INFO): console:
mmc1 is available
2019-07-30T19:50:43.412Z,1564516243.412 [ESPComponent](INFO): console:
reading uImage
2019-07-30T19:50:43.809Z,1564516243.809 [ESPComponent](INFO): console:

2019-07-30T19:50:44.209Z,1564516244.209 [ESPComponent](INFO): console:
1681452 bytes read
2019-07-30T19:50:44.617Z,1564516244.617 [ESPComponent](INFO): console:
## Booting kernel from Legacy Image at 31000000 ...
2019-07-30T19:50:45.018Z,1564516245.018 [ESPComponent](INFO): console:
   Image Name:   Linux-2.6.33-ea3131-mbari6
2019-07-30T19:50:45.422Z,1564516245.422 [ESPComponent](INFO): console:
   Image Type:   ARM Linux Kernel Image (uncompressed)
2019-07-30T19:50:45.828Z,1564516245.828 [ESPComponent](INFO): console:
   Data Size:    1681388 Bytes =  1.6 MB
2019-07-30T19:50:46.229Z,1564516246.229 [ESPComponent](INFO): console:
   Load Address: 30008000
2019-07-30T19:50:46.630Z,1564516246.630 [ESPComponent](INFO): console:
   Entry Point:  30008000
2019-07-30T19:50:47.037Z,1564516247.037 [ESPComponent](INFO): console:
   Verifying Checksum ... OK
2019-07-30T19:50:47.452Z,1564516247.452 [ESPComponent](INFO): console:
   Loading Kernel Image ... OK
2019-07-30T19:50:47.855Z,1564516247.855 [ESPComponent](INFO): console:
OK
2019-07-30T19:50:48.260Z,1564516248.260 [ESPComponent](INFO): console:

2019-07-30T19:50:48.664Z,1564516248.664 [ESPComponent](INFO): console:
Starting kernel ...
2019-07-30T19:50:49.059Z,1564516249.059 [ESPComponent](INFO): console:

2019-07-30T19:50:49.473Z,1564516249.473 [ESPComponent](INFO): console:
Uncompressing Linux... done, booting the kernel.
2019-07-30T19:50:49.866Z,1564516249.866 [ESPComponent](INFO): console:
[    0.00] CPU: ARM926EJ-S [41069265] revision 5 (ARMv5TEJ), cr=00053177
2019-07-30T19:50:50.274Z,1564516250.274 [ESPComponent](INFO): console:
[    0.00] CPU: VIVT data cache, VIVT instruction cache
2019-07-30T19:50:50.673Z,1564516250.673 [ESPComponent](INFO): console:
[    0.00] Machine: NXP EA313X
2019-07-30T19:50:51.078Z,1564516251.078 [ESPComponent](INFO): console:
[    0.00] Memory policy: ECC disabled, Data cache writeback
2019-07-30T19:50:51.482Z,1564516251.482 [ESPComponent](INFO): console:
[    0.00] Built 1 zonelists in Zone order, mobility grouping on.  Total pages: 16256
2019-07-30T19:50:51.893Z,1564516251.893 [ESPComponent](INFO): console:
[    0.24] Mount-cache hash table entries: 512
2019-07-30T19:50:52.291Z,1564516252.291 [ESPComponent](INFO): console:
[    0.30] MBARI ESP 3G
2019-07-30T19:50:52.709Z,1564516252.709 [ESPComponent](INFO): console:
[    0.40] bio: create slab <bio-0> at 0
2019-07-30T19:50:53.118Z,1564516253.118 [ESPComponent](INFO): console:
[    0.47] i2c i2c-0: Master timed out. stat = 2a00, cntrl = 000e. Resetting master...
2019-07-30T19:50:53.514Z,1564516253.514 [ESPComponent](INFO): console:
[    0.49] i2c i2c-0: Master timed out. stat = 2a00, cntrl = 000e. Resetting master...
2019-07-30T19:50:53.917Z,1564516253.917 [ESPComponent](INFO): console:
[    0.51] i2c i2c-0: Master timed out. stat = 2a00, cntrl = 000e. Resetting master...
2019-07-30T19:50:54.310Z,1564516254.310 [ESPComponent](INFO): console:
[    0.53] i2c i2c-0: Master timed out. stat = 2a00, cntrl = 000e. Resetting master...
2019-07-30T19:50:54.714Z,1564516254.714 [ESPComponent](INFO): console:
[    0.55] i2c i2c-0: Master timed out. stat = 2a00, cntrl = 000e. Resetting master...
2019-07-30T19:50:55.118Z,1564516255.118 [ESPComponent](INFO): console:
[    0.57] i2cMaster timed out. stat = 2a00, cntrl = 000e. Remaster...
2019-07-30T19:50:55.525Z,1564516255.525 [ESPComponent](INFO): console:
[    0.57] NetWinder Floating Point Emulator V0.97 (double precision)
2019-07-30T19:50:55.928Z,1564516255.928 [ESPComponent](INFO): console:
[    0.59] yaffs Dec 14 2018 09:19:05 Installing. 
2019-07-30T19:50:56.330Z,1564516256.330 [ESPComponent](INFO): console:
[    0.73] m25p80 spi0.3: m25p80 found s25sl032a flash
2019-07-30T19:50:56.734Z,1564516256.734 [ESPComponent](INFO): console:
[    2.65] VFS: Mounted root (ext2 filesystem) readonly on device 179:2.
2019-07-30T19:50:57.137Z,1564516257.137 [ESPComponent](INFO): console:

2019-07-30T19:50:57.541Z,1564516257.541 [ESPComponent](INFO): console:INIT: version 2.85 booting
2019-07-30T19:50:57.955Z,1564516257.955 [ESPComponent](INFO): console:

2019-07-30T19:50:58.361Z,1564516258.361 [ESPComponent](INFO): console:MBARI ESP Embedded Linux    http://www.mbari.org   mailto:brent@mbari.org
2019-07-30T19:50:58.764Z,1564516258.764 [ESPComponent](INFO): console:
ESPlrauvSIM
2019-07-30T19:50:58.889Z,1564516258.889 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=180.279785
2019-07-30T19:50:59.175Z,1564516259.175 [ESPComponent](INFO): console:

2019-07-30T19:50:59.293Z,1564516259.293 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2019-07-30T19:50:59.562Z,1564516259.562 [ESPComponent](INFO): console:INIT: Entering runlevel: 3
2019-07-30T19:50:59.965Z,1564516259.965 [ESPComponent](INFO): console:

2019-07-30T19:51:00.370Z,1564516260.370 [ESPComponent](INFO): console:Loading kernel modules
2019-07-30T19:51:00.774Z,1564516260.774 [ESPComponent](INFO): console:
Mounting filesystems and adding swapfiles listed in /etc/fstab
2019-07-30T19:51:01.178Z,1564516261.178 [ESPComponent](INFO): console:
mount: /dev/mmcblk0p2 already mounted or /card busy
2019-07-30T19:51:01.586Z,1564516261.586 [ESPComponent](INFO): console:
Starting hotplug events dispatcher udevd
2019-07-30T19:51:01.990Z,1564516261.990 [ESPComponent](INFO): console:
Set system clock to:  Tue Jul 30 12:50:48 PDT 2019
2019-07-30T19:51:02.395Z,1564516262.395 [ESPComponent](INFO): console:
Starting syslogd klogd...
2019-07-30T19:51:02.802Z,1564516262.802 [ESPComponent](INFO): console:
Bringing up interface lo ...
2019-07-30T19:51:03.216Z,1564516263.216 [ESPComponent](INFO): console:
lo IP=127.0.0.1
2019-07-30T19:51:03.612Z,1564516263.612 [ESPComponent](INFO): console:
Packet forwarding enabled
2019-07-30T19:51:04.016Z,1564516264.016 [ESPComponent](INFO): console:
Bringing up interface ppp2 ...
2019-07-30T19:51:04.420Z,1564516264.420 [ESPComponent](INFO): console:
Starting portmap...
2019-07-30T19:51:04.798Z,1564516264.798 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session.
2019-07-30T19:51:04.813Z,1564516264.813 [ESPComponent](INFO): console:
Bringing up interface eth0 ...
2019-07-30T19:51:05.218Z,1564516265.218 [ESPComponent](INFO): console:
Network unavailable:  Local time is Tue Jul 30 12:50:50 PDT 2019
2019-07-30T19:51:05.624Z,1564516265.624 [ESPComponent](INFO): console:
Starting thttpd...
2019-07-30T19:51:06.030Z,1564516266.030 [ESPComponent](INFO): console:
Determining IP configuration for eth0....udhcpc (v1.11.2) started
2019-07-30T19:51:06.429Z,1564516266.429 [ESPComponent](INFO): console:
Sending discover...
2019-07-30T19:51:06.829Z,1564516266.829 [ESPComponent](INFO): console:

2019-07-30T19:51:07.236Z,1564516267.236 [ESPComponent](INFO): console:

2019-07-30T19:51:07.641Z,1564516267.641 [ESPComponent](INFO): console:MBARI ESP Embedded Linux 2.45 -- 5/7/19 brent@mbari.org
2019-07-30T19:51:08.044Z,1564516268.044 [ESPComponent](INFO): console:

2019-07-30T19:51:08.449Z,1564516268.449 [ESPComponent](INFO): console:ESPlrauvSIM login: Sending discover...
2019-07-30T19:51:08.856Z,1564516268.856 [ESPComponent](IMPORTANT): ESP has connected as client
2019-07-30T19:51:09.667Z,1564516269.667 [ESPComponent](IMPORTANT): [sample #1] Setting cartridge argument to -4
2019-07-30T19:51:09.668Z,1564516269.668 [ESPComponent](IMPORTANT): [sample #1] ESP sampling sequence starting. Sampling state: S_WAITING_INITIAL_PROMPT
2019-07-30T19:51:09.668Z,1564516269.668 [ESPComponent](DEBUG): Writing samplingActive=1, sampleNumber=1
2019-07-30T19:51:09.679Z,1564516269.679 [esp_kiss:SampleESP:sample:TriggerESP] Stopped
2019-07-30T19:51:09.680Z,1564516269.680 [esp_kiss:SampleESP:sample:F] Running Loop=1
2019-07-30T19:51:10.094Z,1564516270.094 [esp_kiss:SampleESP:sample:F](IMPORTANT): ESP sampling at 3.000000 m inwater withchlorophyll fluorescence.
2019-07-30T19:51:10.094Z,1564516270.094 [esp_kiss:SampleESP:sample:F] Stopped
2019-07-30T19:51:10.094Z,1564516270.094 [esp_kiss:SampleESP:sample:WaitForESP] Running Loop=1
2019-07-30T19:51:10.480Z,1564516270.480 [esp_kiss:SampleESP:sample:WaitForESP](DEBUG): Initialize ReadDataComponent to sense ESPComponent.sample_number
2019-07-30T19:51:10.869Z,1564516270.869 [ESPComponent](IMPORTANT): [sample #1] ESP sampling state: S_PREPARING_SHOW_LOG
2019-07-30T19:51:11.280Z,1564516271.280 [ESPComponent](IMPORTANT): [sample #1] ESP sampling state: S_PREPARING_SHOW_STATUS
2019-07-30T19:51:12.900Z,1564516272.900 [ESPComponent](IMPORTANT): [sample #1] ESP sampling state: S_LOADING_CARTRIDGE
2019-07-30T19:51:35.506Z,1564516295.506 [NAL9602](INFO): Not Powering down - fast GPS
2019-07-30T19:51:48.849Z,1564516308.849 [ESPComponent](IMPORTANT): [sample #1] ESP sampling state: S_WAITING_FOR_PRIMING (@9,archiveHiBiomass_bac)
2019-07-30T19:51:50.469Z,1564516310.469 [ESPComponent](IMPORTANT): [sample #1] ESP sampling state: S_PRIMING (@5.0)
2019-07-30T19:51:51.273Z,1564516311.273 [ESPComponent](IMPORTANT): [sample #1] ESP sampling state: S_WAITING_FOR_FILTERING (@5.0)
2019-07-30T19:52:21.586Z,1564516341.586 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-07-30T19:52:21.586Z,1564516341.586 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 3
2019-07-30T19:52:21.586Z,1564516341.586 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-07-30T19:52:21.636Z,1564516341.636 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-07-30T19:52:21.993Z,1564516341.993 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-07-30T19:52:21.993Z,1564516341.993 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 3
2019-07-30T19:52:24.405Z,1564516344.405 [ESPComponent](IMPORTANT): [sample #1] ESP sampling state: S_FILTERING (@0.0)
2019-07-30T19:52:24.801Z,1564516344.801 [ESPComponent](IMPORTANT): [sample #1] ESP sampling state: S_WAITING_FOR_PAUSED (@0.0)
2019-07-30T19:52:41.373Z,1564516361.373 [ESPComponent](IMPORTANT): [sample #1] ESP sampling state: S_PAUSED (@10.0)
2019-07-30T19:52:41.374Z,1564516361.374 [ESPComponent](DEBUG): Writing sampleVolume=10.000000
2019-07-30T19:52:41.772Z,1564516361.772 [ESPComponent](IMPORTANT): [sample #1] ESP sampling state: S_PROCESSING (@10.0)
2019-07-30T19:52:44.196Z,1564516364.196 [ESPComponent](IMPORTANT): [sample #1] ESP sampling state: S_WAITING_FOR_PROCESSED (@9,archiveHiBiomass_bac)
2019-07-30T19:54:22.786Z,1564516462.786 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-07-30T19:54:22.786Z,1564516462.786 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 4
2019-07-30T19:54:22.786Z,1564516462.786 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-07-30T19:54:22.838Z,1564516462.838 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-07-30T19:54:23.202Z,1564516463.202 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-07-30T19:54:23.202Z,1564516463.202 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 4
2019-07-30T19:56:17.510Z,1564516577.510 [ESPComponent](IMPORTANT): [sample #1] ESP sampling state: S_STOPPING (@9,archiveHiBiomass_bac)
2019-07-30T19:56:23.982Z,1564516583.982 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-07-30T19:56:23.982Z,1564516583.982 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 5
2019-07-30T19:56:23.982Z,1564516583.982 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-07-30T19:56:23.996Z,1564516583.996 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-07-30T19:56:24.396Z,1564516584.396 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-07-30T19:56:24.397Z,1564516584.397 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 5
2019-07-30T19:56:44.579Z,1564516604.579 [ESPComponent](IMPORTANT): Syncing ESP logs with command: sleep 90 &
2019-07-30T19:56:44.597Z,1564516604.597 [ESPComponent](INFO): closing pipe.
2019-07-30T19:56:44.982Z,1564516604.982 [ESPComponent](IMPORTANT): [sample #1] ESP sampling state: S_STOPPED
2019-07-30T19:58:25.182Z,1564516705.182 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-07-30T19:58:25.182Z,1564516705.182 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 6
2019-07-30T19:58:25.182Z,1564516705.182 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-07-30T19:58:25.196Z,1564516705.196 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-07-30T19:58:25.591Z,1564516705.591 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-07-30T19:58:25.591Z,1564516705.591 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 6
2019-07-30T20:00:26.385Z,1564516826.385 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-07-30T20:00:26.385Z,1564516826.385 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 7
2019-07-30T20:00:26.385Z,1564516826.385 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-07-30T20:00:26.399Z,1564516826.399 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-07-30T20:00:26.807Z,1564516826.807 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-07-30T20:00:26.807Z,1564516826.807 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 7
2019-07-30T20:01:44.749Z,1564516904.749 [ESPComponent](IMPORTANT): [sample #1] ESP sampling sequence completed normally.
2019-07-30T20:01:44.749Z,1564516904.749 [ESPComponent](DEBUG): Writing samplingActive=1, sampleNumber=1
2019-07-30T20:01:44.760Z,1564516904.760 [esp_kiss:SampleESP:sample:WaitForESP] Stopped
2019-07-30T20:01:44.761Z,1564516904.761 [esp_kiss:SampleESP:sample](INFO): Completed esp_kiss:SampleESP:sample
2019-07-30T20:01:44.761Z,1564516904.761 [esp_kiss:SampleESP:sample] Stopped
2019-07-30T20:01:44.761Z,1564516904.761 [esp_kiss:SampleESP:sample](DEBUG): Aggregate::uninitialize esp_kiss:SampleESP:sample
2019-07-30T20:01:44.761Z,1564516904.761 [esp_kiss:SampleESP](INFO): Completed esp_kiss:SampleESP
2019-07-30T20:01:44.761Z,1564516904.761 [esp_kiss:SampleESP] Stopped
2019-07-30T20:01:44.762Z,1564516904.762 [esp_kiss:SampleESP](DEBUG): Aggregate::uninitialize esp_kiss:SampleESP
2019-07-30T20:01:45.153Z,1564516905.153 [ESPComponent](IMPORTANT): [sample #1] ESP log summary report (2 messages):
@12:51:19.70 Selecting Cartridge 9
@12:52:39.06 Sampled  10.0ml

2019-07-30T20:01:45.154Z,1564516905.154 [ESPComponent](INFO): powering down ESP
2019-07-30T20:01:45.155Z,1564516905.155 [ESPComponent](INFO): powering down ESP secondary power supply
2019-07-30T20:01:45.308Z,1564516905.308 [esp_kiss:SampleAtTargetDepth:GrabSamples:Sample1:B](INFO): Completed esp_kiss:SampleAtTargetDepth:GrabSamples:Sample1:B
2019-07-30T20:01:45.308Z,1564516905.308 [esp_kiss:SampleAtTargetDepth:GrabSamples:Sample1:B] Stopped
2019-07-30T20:01:45.308Z,1564516905.308 [esp_kiss:SampleAtTargetDepth:GrabSamples:Sample1:B](DEBUG): Aggregate::uninitialize esp_kiss:SampleAtTargetDepth:GrabSamples:Sample1:B
2019-07-30T20:01:45.309Z,1564516905.309 [esp_kiss:SampleAtTargetDepth:GrabSamples:Sample1](INFO): Completed esp_kiss:SampleAtTargetDepth:GrabSamples:Sample1
2019-07-30T20:01:45.309Z,1564516905.309 [esp_kiss:SampleAtTargetDepth:GrabSamples:Sample1] Stopped
2019-07-30T20:01:45.309Z,1564516905.309 [esp_kiss:SampleAtTargetDepth:GrabSamples:Sample1](DEBUG): Aggregate::uninitialize esp_kiss:SampleAtTargetDepth:GrabSamples:Sample1
2019-07-30T20:01:45.309Z,1564516905.309 [esp_kiss:SampleAtTargetDepth:GrabSamples:Sample2] Running Loop=1
2019-07-30T20:01:45.310Z,1564516905.310 [esp_kiss:SampleAtTargetDepth:GrabSamples:Sample2](DEBUG): Aggregate::initialize esp_kiss:SampleAtTargetDepth:GrabSamples:Sample2
2019-07-30T20:01:45.310Z,1564516905.310 [esp_kiss:SampleAtTargetDepth:GrabSamples:Sample2:A] Running Loop=1
2019-07-30T20:01:45.566Z,1564516905.566 [esp_kiss:SampleAtTargetDepth:GrabSamples:Sample2:A] Stopped
2019-07-30T20:01:45.566Z,1564516905.566 [esp_kiss:SampleAtTargetDepth:GrabSamples:Sample2:B] Running Loop=1
2019-07-30T20:01:45.566Z,1564516905.566 [esp_kiss:SampleAtTargetDepth:GrabSamples:Sample2:B](DEBUG): Aggregate::initialize esp_kiss:SampleAtTargetDepth:GrabSamples:Sample2:B
2019-07-30T20:01:45.685Z,1564516905.685 [Radio_Surface](INFO): Powering up
2019-07-30T20:01:45.975Z,1564516905.975 [esp_kiss:SampleESP] Running Loop=1
2019-07-30T20:01:45.975Z,1564516905.975 [esp_kiss:SampleESP](DEBUG): Aggregate::initialize esp_kiss:SampleESP
2019-07-30T20:01:45.975Z,1564516905.975 [esp_kiss:SampleESP:sample] Running Loop=1
2019-07-30T20:01:45.975Z,1564516905.975 [esp_kiss:SampleESP:sample](DEBUG): Aggregate::initialize esp_kiss:SampleESP:sample
2019-07-30T20:01:45.975Z,1564516905.975 [esp_kiss:SampleESP:sample:A] Running Loop=1
2019-07-30T20:01:45.976Z,1564516905.976 [esp_kiss:SampleESP:sample:A](IMPORTANT): At 3.000000 m , settling for 3.000000 min 
2019-07-30T20:01:45.976Z,1564516905.976 [esp_kiss:SampleESP:sample:A] Stopped
2019-07-30T20:01:45.977Z,1564516905.977 [esp_kiss:SampleESP:sample:B.Wait] Running Loop=1
2019-07-30T20:01:45.977Z,1564516905.977 [esp_kiss:SampleESP:sample:B.Wait](DEBUG): Initialize Wait Component.
2019-07-30T20:01:50.945Z,1564516910.945 [DataOverHttps](INFO): Radio surface powered ON.
2019-07-30T20:01:51.745Z,1564516911.745 [Radio_Surface](INFO): Powering down
2019-07-30T20:02:21.245Z,1564516941.245 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2019-07-30T20:02:21.649Z,1564516941.649 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2019-07-30T20:02:27.582Z,1564516947.582 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-07-30T20:02:27.582Z,1564516947.582 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 8
2019-07-30T20:02:27.582Z,1564516947.582 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-07-30T20:02:27.596Z,1564516947.596 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-07-30T20:02:28.026Z,1564516948.026 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-07-30T20:02:28.026Z,1564516948.026 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 8
2019-07-30T20:04:28.784Z,1564517068.784 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-07-30T20:04:28.784Z,1564517068.784 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 9
2019-07-30T20:04:28.784Z,1564517068.784 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-07-30T20:04:28.798Z,1564517068.798 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-07-30T20:04:29.211Z,1564517069.211 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-07-30T20:04:29.211Z,1564517069.211 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 9
2019-07-30T20:04:46.562Z,1564517086.562 [esp_kiss:SampleESP:sample:B.Wait](INFO): Done Waiting.
2019-07-30T20:04:46.562Z,1564517086.562 [esp_kiss:SampleESP:sample:B.Wait] Stopped
2019-07-30T20:04:46.563Z,1564517086.563 [esp_kiss:SampleESP:sample:B.Wait](DEBUG): Uninitialize Wait Component.
2019-07-30T20:04:46.563Z,1564517086.563 [esp_kiss:SampleESP:sample:C] Running Loop=1
2019-07-30T20:04:46.959Z,1564517086.959 [esp_kiss:SampleESP:sample:C](IMPORTANT): Requesting ESP cartridge type: -9.000000 count 
2019-07-30T20:04:46.959Z,1564517086.959 [esp_kiss:SampleESP:sample:C] Stopped
2019-07-30T20:04:46.959Z,1564517086.959 [esp_kiss:SampleESP:sample:D] Running Loop=1
2019-07-30T20:04:47.370Z,1564517087.370 [esp_kiss:SampleESP:sample:D] Stopped
2019-07-30T20:04:47.370Z,1564517087.370 [esp_kiss:SampleESP:sample:TriggerESP] Running Loop=1
2019-07-30T20:04:49.038Z,1564517089.038 [ESPComponent](INFO): powering up ESP
2019-07-30T20:04:49.057Z,1564517089.057 [ESPComponent](INFO): powering up ESP secondary power supply
2019-07-30T20:04:49.073Z,1564517089.073 [ESPComponent](IMPORTANT): Starting PPPD with command:/sbin/pppd xonxoff asyncmap A0000 /dev/ttyTX1 linkname esp noauth local lock 115200 10.89.8.2:10.89.8.3 persist maxfail 0 holdoff 10 lcp-echo-interval 60 lcp-echo-failure 3 proxyarp ktune deflate 12 ms-dns 8.8.8.8
2019-07-30T20:04:49.181Z,1564517089.181 [ESPComponent](IMPORTANT): Waiting for ESP to connect (timeout=150.0000)
2019-07-30T20:04:49.449Z,1564517089.449 [ESPComponent](INFO): console:
2019-07-30T20:04:49.505Z,1564517089.505 [Radio_Surface](INFO): Powering up
2019-07-30T20:04:50.185Z,1564517090.185 [ESPComponent](INFO): console:

2019-07-30T20:04:50.589Z,1564517090.589 [ESPComponent](INFO): console:NAND:  256 MiB
2019-07-30T20:04:50.993Z,1564517090.993 [ESPComponent](INFO): console:
BOOTMODE: SDMMC
2019-07-30T20:04:51.396Z,1564517091.396 [ESPComponent](INFO): console:

2019-07-30T20:04:51.803Z,1564517091.803 [ESPComponent](INFO): console:

2019-07-30T20:04:52.208Z,1564517092.208 [ESPComponent](INFO): console:
U-Boot 2009.11-mbariC (Apr 02 2019 - 18:00:17)
2019-07-30T20:04:52.609Z,1564517092.609 [ESPComponent](INFO): console:

2019-07-30T20:04:53.012Z,1564517093.012 [ESPComponent](INFO): console:
MBARI LPC31xx ESP 3G
2019-07-30T20:04:53.417Z,1564517093.417 [ESPComponent](INFO): console:
flash params are aritten in
2019-07-30T20:04:53.817Z,1564517093.817 [ESPComponent](INFO): console:
DRAM:  64 MB
2019-07-30T20:04:54.225Z,1564517094.225 [ESPComponent](INFO): console:
In:    serial
2019-07-30T20:04:54.633Z,1564517094.633 [ESPComponent](INFO): console:
Out:   serial
2019-07-30T20:04:54.765Z,1564517094.765 [DataOverHttps](INFO): Radio surface powered ON.
2019-07-30T20:04:55.038Z,1564517095.038 [ESPComponent](INFO): console:
Err:   serial
2019-07-30T20:04:55.440Z,1564517095.440 [ESPComponent](INFO): console:
Net:   ks8851_mll
2019-07-30T20:04:55.565Z,1564517095.565 [Radio_Surface](INFO): Powering down
2019-07-30T20:04:55.841Z,1564517095.841 [ESPComponent](INFO): console:
Hit <ctrl-C> to stop autoboot:  1  0 
2019-07-30T20:04:56.245Z,1564517096.245 [ESPComponent](INFO): console:
mmc1 is available
2019-07-30T20:04:56.645Z,1564517096.645 [ESPComponent](INFO): console:
reading uImage
2019-07-30T20:04:57.056Z,1564517097.056 [ESPComponent](INFO): console:

2019-07-30T20:04:57.457Z,1564517097.457 [ESPComponent](INFO): console:
1681452 bytes read
2019-07-30T20:04:57.861Z,1564517097.861 [ESPComponent](INFO): console:
## Booting kernel from Legacy Image at 31000000 ...
2019-07-30T20:04:58.266Z,1564517098.266 [ESPComponent](INFO): console:
   Image Name:   Linux-2.6.33-ea3131-mbari6
2019-07-30T20:04:58.669Z,1564517098.669 [ESPComponent](INFO): console:
   Image Type:   ARM Linux Kernel Image (uncompressed)
2019-07-30T20:04:59.078Z,1564517099.078 [ESPComponent](INFO): console:
   Data Size:    1681388 Bytes =  1.6 MB
2019-07-30T20:04:59.480Z,1564517099.480 [ESPComponent](INFO): console:
   Load Address: 30008000
2019-07-30T20:04:59.878Z,1564517099.878 [ESPComponent](INFO): console:
   Entry Point:  30008000
2019-07-30T20:05:00.285Z,1564517100.285 [ESPComponent](INFO): console:
   Verifying Checksum ... OK
2019-07-30T20:05:00.689Z,1564517100.689 [ESPComponent](INFO): console:
   Loading Kernel Image ... OK
2019-07-30T20:05:01.092Z,1564517101.092 [ESPComponent](INFO): console:
OK
2019-07-30T20:05:01.493Z,1564517101.493 [ESPComponent](INFO): console:

2019-07-30T20:05:01.905Z,1564517101.905 [ESPComponent](INFO): console:
Starting kernel ...
2019-07-30T20:05:02.307Z,1564517102.307 [ESPComponent](INFO): console:

2019-07-30T20:05:02.710Z,1564517102.710 [ESPComponent](INFO): console:
Uncompressing Linux... done, booting the kernel.
2019-07-30T20:05:03.118Z,1564517103.118 [ESPComponent](INFO): console:
[    0.00] CPU: ARM926EJ-S [41069265] revision 5 (ARMv5TEJ), cr=00053177
2019-07-30T20:05:03.518Z,1564517103.518 [ESPComponent](INFO): console:
[    0.00] CPU: VIVT data cache, VIVT instruction cache
2019-07-30T20:05:03.921Z,1564517103.921 [ESPComponent](INFO): console:
[    0.00] Machine: NXP EA313X
2019-07-30T20:05:04.329Z,1564517104.329 [ESPComponent](INFO): console:
[    0.00] Memory policy: ECC disabled, Data cache writeback
2019-07-30T20:05:04.727Z,1564517104.727 [ESPComponent](INFO): console:
[    0.00] Built 1 zonelists in Zone order, mobility grouping on.  Total pages: 16256
2019-07-30T20:05:05.133Z,1564517105.133 [ESPComponent](INFO): console:
[    0.24] Mount-cache hash table entries: 512
2019-07-30T20:05:05.537Z,1564517105.537 [ESPComponent](INFO): console:
[    0.29] MBARI ESP 3G
2019-07-30T20:05:05.941Z,1564517105.941 [ESPComponent](INFO): console:
[    0.39] bio: create slab <bio-0> at 0
2019-07-30T20:05:06.346Z,1564517106.346 [ESPComponent](INFO): console:
[    0.46] i2c i2c-0: Master timed out. stat = 2a00, cntrl = 000e. Resetting master...
2019-07-30T20:05:06.754Z,1564517106.754 [ESPComponent](INFO): console:
[    0.48] i2c i2c-0: Master timed out. stat = 2a00, cntrl = 000e. Resetting master...
2019-07-30T20:05:07.159Z,1564517107.159 [ESPComponent](INFO): console:
[    0.50] i2c i2c-0: Master timed out. stat = 2a00, cntrl = 000e. Resetting master...
2019-07-30T20:05:07.559Z,1564517107.559 [ESPComponent](INFO): console:
[    0.52] i2c i2c-0: Master timed out. stat = 2a00, cntrl = 000e. Resetting master...
2019-07-30T20:05:07.962Z,1564517107.962 [ESPComponent](INFO): console:
[    0.54] i2c i2c-0: Master timed out. stat = 2a00, cntrl = 000e. Resetting master...
2019-07-30T20:05:08.367Z,1564517108.367 [ESPComponent](INFO): console:
[    0.i2c-0: Master timed out. stat = 2a00, cntrl = 000e. Resetting master...
2019-07-30T20:05:08.770Z,1564517108.770 [ESPComponent](INFO): console:
[    0.56] NetWinder Floating Point Emulator V0.97 (double precision)
2019-07-30T20:05:09.179Z,1564517109.179 [ESPComponent](INFO): console:
[    0.58] yaffs Dec 14 2018 09:19:05 Installing. 
2019-07-30T20:05:09.578Z,1564517109.578 [ESPComponent](INFO): console:
[    0.72] m25p80 spi0.3: m25p80 found s25sl032a flash
2019-07-30T20:05:09.984Z,1564517109.984 [ESPComponent](INFO): console:
[    1.03]  p1 p2 p3
2019-07-30T20:05:10.385Z,1564517110.385 [ESPComponent](INFO): console:
[    2.45] VFS: Mounted root (ext2 filesystem) readonly on device 179:2.
2019-07-30T20:05:10.785Z,1564517110.785 [ESPComponent](INFO): console:

2019-07-30T20:05:11.193Z,1564517111.193 [ESPComponent](INFO): console:INIT: version 2.85 booting
2019-07-30T20:05:11.600Z,1564517111.600 [ESPComponent](INFO): console:

2019-07-30T20:05:12.002Z,1564517112.002 [ESPComponent](INFO): console:MBARI ESP Embedded Linux    http://www.mbari.org   mailto:brent@mbari.org
2019-07-30T20:05:12.406Z,1564517112.406 [ESPComponent](INFO): console:
ESPlrauvSIM
2019-07-30T20:05:12.813Z,1564517112.813 [ESPComponent](INFO): console:

2019-07-30T20:05:13.213Z,1564517113.213 [ESPComponent](INFO): console:INIT: Entering runlevel: 3
2019-07-30T20:05:13.613Z,1564517113.613 [ESPComponent](INFO): console:

2019-07-30T20:05:14.024Z,1564517114.024 [ESPComponent](INFO): console:Loading kernel modules
2019-07-30T20:05:14.426Z,1564517114.426 [ESPComponent](INFO): console:
Mounting filesystems and adding swapfiles listed in /etc/fstab
2019-07-30T20:05:14.829Z,1564517114.829 [ESPComponent](INFO): console:
mount: /dev/mmcblk0p2 already mounted or /card busy
2019-07-30T20:05:15.233Z,1564517115.233 [ESPComponent](INFO): console:
Starting hotplug events dispatcher udevd
2019-07-30T20:05:15.639Z,1564517115.639 [ESPComponent](INFO): console:
Set system clock to:  Tue Jul 30 13:04:59 PDT 2019
2019-07-30T20:05:16.046Z,1564517116.046 [ESPComponent](INFO): console:
Starting syslogd klogd...
2019-07-30T20:05:16.449Z,1564517116.449 [ESPComponent](INFO): console:
Bringing up interface lo ...
2019-07-30T20:05:16.846Z,1564517116.846 [ESPComponent](INFO): console:
lo IP=127.0.0.1
2019-07-30T20:05:17.253Z,1564517117.253 [ESPComponent](INFO): console:
Packet forwarding enabled
2019-07-30T20:05:17.657Z,1564517117.657 [ESPComponent](INFO): console:
Bringing up interface ppp2 ...
2019-07-30T20:05:18.057Z,1564517118.057 [ESPComponent](INFO): console:
Starting portmap...
2019-07-30T20:05:18.465Z,1564517118.465 [ESPComponent](INFO): console:
Bringing up interface eth0 ...
2019-07-30T20:05:18.873Z,1564517118.873 [ESPComponent](INFO): console:
Network unavailable:  Local time is Tue Jul 30 13:05:01 PDT 2019
2019-07-30T20:05:19.278Z,1564517119.278 [ESPComponent](INFO): console:
Starting thttpd...
2019-07-30T20:05:19.674Z,1564517119.674 [ESPComponent](INFO): console:
Determining IP configuration for eth0....udhcpc (v1.11ted
2019-07-30T20:05:20.081Z,1564517120.081 [ESPComponent](INFO): console:
Sending discover...
2019-07-30T20:05:20.489Z,1564517120.489 [ESPComponent](INFO): console:

2019-07-30T20:05:20.888Z,1564517120.888 [ESPComponent](IMPORTANT): ESP has connected as client
2019-07-30T20:05:21.702Z,1564517121.702 [ESPComponent](IMPORTANT): [sample #2] Setting cartridge argument to -9
2019-07-30T20:05:21.702Z,1564517121.702 [ESPComponent](IMPORTANT): [sample #2] ESP sampling sequence starting. Sampling state: S_WAITING_INITIAL_PROMPT
2019-07-30T20:05:21.702Z,1564517121.702 [ESPComponent](DEBUG): Writing samplingActive=1, sampleNumber=2
2019-07-30T20:05:21.713Z,1564517121.713 [esp_kiss:SampleESP:sample:TriggerESP] Stopped
2019-07-30T20:05:21.713Z,1564517121.713 [esp_kiss:SampleESP:sample:F] Running Loop=1
2019-07-30T20:05:22.119Z,1564517122.119 [esp_kiss:SampleESP:sample:F](IMPORTANT): ESP sampling at 3.000000 m inwater withchlorophyll fluorescence.
2019-07-30T20:05:22.119Z,1564517122.119 [esp_kiss:SampleESP:sample:F] Stopped
2019-07-30T20:05:22.119Z,1564517122.119 [esp_kiss:SampleESP:sample:WaitForESP] Running Loop=1
2019-07-30T20:05:22.506Z,1564517122.506 [ESPComponent](IMPORTANT): [sample #2] ESP sampling state: S_PREPARING_SHOW_LOG
2019-07-30T20:05:22.912Z,1564517122.912 [ESPComponent](IMPORTANT): [sample #2] ESP sampling state: S_PREPARING_SHOW_STATUS
2019-07-30T20:05:24.928Z,1564517124.928 [ESPComponent](IMPORTANT): [sample #2] ESP sampling state: S_LOADING_CARTRIDGE
2019-07-30T20:05:25.065Z,1564517125.065 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2019-07-30T20:05:25.469Z,1564517125.469 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2019-07-30T20:06:01.289Z,1564517161.289 [ESPComponent](IMPORTANT): [sample #2] ESP sampling state: S_WAITING_FOR_PRIMING (@56,daSPR_phyto)
2019-07-30T20:06:02.909Z,1564517162.909 [ESPComponent](IMPORTANT): [sample #2] ESP sampling state: S_PRIMING (@5.0)
2019-07-30T20:06:03.717Z,1564517163.717 [ESPComponent](IMPORTANT): [sample #2] ESP sampling state: S_WAITING_FOR_FILTERING (@5.0)
2019-07-30T20:06:29.985Z,1564517189.985 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-07-30T20:06:29.986Z,1564517189.986 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 10
2019-07-30T20:06:29.986Z,1564517189.986 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-07-30T20:06:29.000Z,1564517190.000 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-07-30T20:06:30.402Z,1564517190.402 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-07-30T20:06:30.402Z,1564517190.402 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 10
2019-07-30T20:06:36.838Z,1564517196.838 [ESPComponent](IMPORTANT): [sample #2] ESP sampling state: S_FILTERING (@0.0)
2019-07-30T20:06:37.244Z,1564517197.244 [ESPComponent](IMPORTANT): [sample #2] ESP sampling state: S_WAITING_FOR_PAUSED (@0.0)
2019-07-30T20:06:53.806Z,1564517213.806 [ESPComponent](IMPORTANT): [sample #2] ESP sampling state: S_PAUSED (@10.0)
2019-07-30T20:06:53.806Z,1564517213.806 [ESPComponent](DEBUG): Writing sampleVolume=10.000000
2019-07-30T20:06:54.213Z,1564517214.213 [ESPComponent](IMPORTANT): [sample #2] ESP sampling state: S_PROCESSING (@10.0)
2019-07-30T20:06:56.637Z,1564517216.637 [ESPComponent](IMPORTANT): [sample #2] ESP sampling state: S_WAITING_FOR_PROCESSED (@56,daSPR_phyto)
2019-07-30T20:08:31.181Z,1564517311.181 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-07-30T20:08:31.181Z,1564517311.181 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 11
2019-07-30T20:08:31.181Z,1564517311.181 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-07-30T20:08:31.231Z,1564517311.231 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-07-30T20:08:31.594Z,1564517311.594 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-07-30T20:08:31.594Z,1564517311.594 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 11
2019-07-30T20:10:32.382Z,1564517432.382 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-07-30T20:10:32.382Z,1564517432.382 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 12
2019-07-30T20:10:32.382Z,1564517432.382 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-07-30T20:10:32.396Z,1564517432.396 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-07-30T20:10:32.802Z,1564517432.802 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-07-30T20:10:32.802Z,1564517432.802 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 12
2019-07-30T20:12:33.582Z,1564517553.582 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-07-30T20:12:33.582Z,1564517553.582 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 13
2019-07-30T20:12:33.582Z,1564517553.582 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-07-30T20:12:33.618Z,1564517553.618 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-07-30T20:12:34.013Z,1564517554.013 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-07-30T20:12:34.013Z,1564517554.013 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 13
2019-07-30T20:14:34.778Z,1564517674.778 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-07-30T20:14:34.778Z,1564517674.778 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 14
2019-07-30T20:14:34.778Z,1564517674.778 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-07-30T20:14:34.792Z,1564517674.792 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-07-30T20:14:35.205Z,1564517675.205 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-07-30T20:14:35.205Z,1564517675.205 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 14
2019-07-30T20:16:35.975Z,1564517795.975 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-07-30T20:16:35.975Z,1564517795.975 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 15
2019-07-30T20:16:35.975Z,1564517795.975 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-07-30T20:16:35.989Z,1564517795.989 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-07-30T20:16:36.402Z,1564517796.402 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-07-30T20:16:36.402Z,1564517796.402 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 15
2019-07-30T20:18:37.181Z,1564517917.181 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-07-30T20:18:37.181Z,1564517917.181 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 16
2019-07-30T20:18:37.181Z,1564517917.181 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-07-30T20:18:37.195Z,1564517917.195 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-07-30T20:18:37.607Z,1564517917.607 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-07-30T20:18:37.607Z,1564517917.607 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 16
2019-07-30T20:20:38.378Z,1564518038.378 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-07-30T20:20:38.378Z,1564518038.378 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 17
2019-07-30T20:20:38.378Z,1564518038.378 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-07-30T20:20:38.392Z,1564518038.392 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-07-30T20:20:38.802Z,1564518038.802 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-07-30T20:20:38.802Z,1564518038.802 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 17
2019-07-30T20:22:39.586Z,1564518159.586 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-07-30T20:22:39.586Z,1564518159.586 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 18
2019-07-30T20:22:39.586Z,1564518159.586 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-07-30T20:22:39.600Z,1564518159.600 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-07-30T20:22:40.006Z,1564518160.006 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-07-30T20:22:40.006Z,1564518160.006 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 18
2019-07-30T20:24:40.780Z,1564518280.780 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-07-30T20:24:40.780Z,1564518280.780 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 19
2019-07-30T20:24:40.780Z,1564518280.780 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-07-30T20:24:40.794Z,1564518280.794 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-07-30T20:24:41.206Z,1564518281.206 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources
2019-07-30T20:24:41.206Z,1564518281.206 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 19
2019-07-30T20:26:41.986Z,1564518401.986 [DeadReckonUsingMultipleVelocitySources](FAULT): Unable to read the rotation from vehicle frame to navigation frame for more than 120 seconds.
2019-07-30T20:26:41.986Z,1564518401.986 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 20
2019-07-30T20:26:41.986Z,1564518401.986 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault
2019-07-30T20:26:42.000Z,1564518402.000 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-07-30T20:26:42.001Z,1564518402.001 [CBIT](FAULT): Software Fault in component: DeadReckonUsingMultipleVelocitySources
2019-07-30T20:33:30.230Z,1564518810.230 [CommandLine](IMPORTANT): got command stop
2019-07-30T20:33:30.230Z,1564518810.230 [Supervisor](INFO): Stop Mission called by CommandLine::commandStop
2019-07-30T20:33:30.426Z,1564518810.426 [MissionManager](INFO): MissionManager is completed.
2019-07-30T20:33:30.427Z,1564518810.427 [MissionManager](INFO): Uninitializing Mission esp_kiss
2019-07-30T20:33:30.427Z,1564518810.427 [esp_kiss] Stopped
2019-07-30T20:33:30.427Z,1564518810.427 [esp_kiss](DEBUG): Aggregate::uninitialize esp_kiss
2019-07-30T20:33:30.427Z,1564518810.427 [esp_kiss:A.AbortSample] Stopped
2019-07-30T20:33:30.427Z,1564518810.427 [esp_kiss:A.AbortSample](INFO): Uninitializing AbortSample.
2019-07-30T20:33:30.427Z,1564518810.427 [esp_kiss:StandardEnvelopes] Stopped
2019-07-30T20:33:30.427Z,1564518810.427 [esp_kiss:StandardEnvelopes](DEBUG): Aggregate::uninitialize esp_kiss:StandardEnvelopes
2019-07-30T20:33:30.427Z,1564518810.427 [esp_kiss:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2019-07-30T20:33:30.427Z,1564518810.427 [esp_kiss:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2019-07-30T20:33:30.427Z,1564518810.427 [esp_kiss:StandardEnvelopes:B.DepthEnvelope] Stopped
2019-07-30T20:33:30.428Z,1564518810.428 [esp_kiss:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2019-07-30T20:33:30.428Z,1564518810.428 [esp_kiss:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2019-07-30T20:33:30.428Z,1564518810.428 [esp_kiss:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2019-07-30T20:33:30.428Z,1564518810.428 [esp_kiss:I] Stopped
2019-07-30T20:33:30.428Z,1564518810.428 [esp_kiss:SampleESP] Stopped
2019-07-30T20:33:30.428Z,1564518810.428 [esp_kiss:SampleESP](DEBUG): Aggregate::uninitialize esp_kiss:SampleESP
2019-07-30T20:33:30.428Z,1564518810.428 [esp_kiss:SampleESP:sample] Stopped
2019-07-30T20:33:30.428Z,1564518810.428 [esp_kiss:SampleESP:sample](DEBUG): Aggregate::uninitialize esp_kiss:SampleESP:sample
2019-07-30T20:33:30.428Z,1564518810.428 [esp_kiss:SampleESP:sample:WaitForESP] Stopped
2019-07-30T20:33:30.428Z,1564518810.428 [esp_kiss:Science] Stopped
2019-07-30T20:33:30.429Z,1564518810.429 [esp_kiss:Science](DEBUG): Aggregate::uninitialize esp_kiss:Science
2019-07-30T20:33:30.429Z,1564518810.429 [esp_kiss:SampleAtTargetDepth] Stopped
2019-07-30T20:33:30.429Z,1564518810.429 [esp_kiss:SampleAtTargetDepth](DEBUG): Aggregate::uninitialize esp_kiss:SampleAtTargetDepth
2019-07-30T20:33:30.429Z,1564518810.429 [esp_kiss:SampleAtTargetDepth:A.SetSpeed] Stopped
2019-07-30T20:33:30.429Z,1564518810.429 [esp_kiss:SampleAtTargetDepth:A.SetSpeed](DEBUG): Uninitialize.
2019-07-30T20:33:30.430Z,1564518810.430 [esp_kiss:SampleAtTargetDepth:B.Pitch] Stopped
2019-07-30T20:33:30.430Z,1564518810.430 [esp_kiss:SampleAtTargetDepth:GrabSamples] Stopped
2019-07-30T20:33:30.430Z,1564518810.430 [esp_kiss:SampleAtTargetDepth:GrabSamples](DEBUG): Aggregate::uninitialize esp_kiss:SampleAtTargetDepth:GrabSamples
2019-07-30T20:33:30.430Z,1564518810.430 [esp_kiss:SampleAtTargetDepth:GrabSamples:Sample2] Stopped
2019-07-30T20:33:30.430Z,1564518810.430 [esp_kiss:SampleAtTargetDepth:GrabSamples:Sample2](DEBUG): Aggregate::uninitialize esp_kiss:SampleAtTargetDepth:GrabSamples:Sample2
2019-07-30T20:33:30.430Z,1564518810.430 [esp_kiss:SampleAtTargetDepth:GrabSamples:Sample2:B] Stopped
2019-07-30T20:33:30.430Z,1564518810.430 [esp_kiss:SampleAtTargetDepth:GrabSamples:Sample2:B](DEBUG): Aggregate::uninitialize esp_kiss:SampleAtTargetDepth:GrabSamples:Sample2:B
2019-07-30T20:33:30.820Z,1564518810.820 [ESPComponent](DEBUG): Resetting stopSampling to false
2019-07-30T20:33:30.821Z,1564518810.821 [ESPComponent](IMPORTANT): [sample #2] Stop sampling requested.
2019-07-30T20:33:30.834Z,1564518810.834 [MissionManager](IMPORTANT): Started mission Default
2019-07-30T20:33:30.834Z,1564518810.834 [Default] Running Loop=1
2019-07-30T20:33:30.835Z,1564518810.835 [Default](DEBUG): Aggregate::initialize Default
2019-07-30T20:33:30.835Z,1564518810.835 [Default:B.GoToSurface] Running Loop=1
2019-07-30T20:33:30.835Z,1564518810.835 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2019-07-30T20:33:30.835Z,1564518810.835 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2019-07-30T20:33:30.835Z,1564518810.835 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2019-07-30T20:33:30.836Z,1564518810.836 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2019-07-30T20:33:30.836Z,1564518810.836 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2019-07-30T20:33:30.836Z,1564518810.836 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2019-07-30T20:33:30.837Z,1564518810.837 [Default:A.Wait] Running Loop=1
2019-07-30T20:33:30.838Z,1564518810.838 [Default:A.Wait](DEBUG): Initialize Wait Component.
2019-07-30T20:33:31.381Z,1564518811.381 [Radio_Surface](INFO): Powering up
2019-07-30T20:33:36.282Z,1564518816.282 [CommandLine](IMPORTANT): got command maintain clear
2019-07-30T20:33:36.618Z,1564518816.618 [controlThread](DEBUG): Component order: CycleStarter,Depth_Keller,NAL9602,Onboard,BPC1,ESPComponent,PAR_Licor,Depth_Keller,PAR_Licor,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,LogSplitter,
2019-07-30T20:33:37.025Z,1564518817.025 [DataOverHttps](INFO): Radio surface powered ON.
2019-07-30T20:33:42.446Z,1564518822.446 [CommandLine](IMPORTANT): got command restart system
2019-07-30T20:33:44.218Z,1564518824.218 [Default:A.Wait](INFO): Done Waiting.
2019-07-30T20:33:44.218Z,1564518824.218 [Default:A.Wait] Stopped
2019-07-30T20:33:44.219Z,1564518824.219 [Default:A.Wait](DEBUG): Uninitialize Wait Component.
2019-07-30T20:33:44.521Z,1564518824.521 [CommandLine ThreadHandler](INFO): Uninitializing protected caller thread.
2019-07-30T20:33:44.521Z,1564518824.521 [CommandLine ThreadHandler](INFO): Thread cancelled.
2019-07-30T20:33:44.622Z,1564518824.622 [Default:CheckIn] Running Loop=1
2019-07-30T20:33:44.622Z,1564518824.622 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn
2019-07-30T20:33:44.622Z,1564518824.622 [Default:CheckIn:Read_GPS] Running Loop=1
2019-07-30T20:33:44.641Z,1564518824.641 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2019-07-30T20:33:44.641Z,1564518824.641 [CommandLine ThreadHandler](INFO): Thread cancelled.
2019-07-30T20:33:44.642Z,1564518824.642 [CommandLine](INFO): Join timeout helper Thread ID is 1070
2019-07-30T20:33:44.673Z,1564518824.673 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2019-07-30T20:33:44.673Z,1564518824.673 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2019-07-30T20:33:44.673Z,1564518824.673 [NavChartDb](INFO): Join timeout helper Thread ID is 1071
2019-07-30T20:33:44.757Z,1564518824.757 [NavChartDb ThreadHandler](INFO): Uninitializing protected caller thread.
2019-07-30T20:33:44.757Z,1564518824.757 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2019-07-30T20:33:44.765Z,1564518824.765 [ComponentRegistry](INFO): Shutting down Radio_Surface ThreadHandler
2019-07-30T20:33:44.765Z,1564518824.765 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2019-07-30T20:33:44.765Z,1564518824.765 [Radio_Surface](INFO): Join timeout helper Thread ID is 1072
2019-07-30T20:33:45.129Z,1564518825.129 [Radio_Surface](INFO): Powering down
2019-07-30T20:33:45.130Z,1564518825.130 [Radio_Surface ThreadHandler](INFO): Uninitializing protected caller thread.
2019-07-30T20:33:45.130Z,1564518825.130 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2019-07-30T20:33:45.145Z,1564518825.145 [ComponentRegistry](INFO): Shutting down DataOverHttps ThreadHandler
2019-07-30T20:33:45.145Z,1564518825.145 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2019-07-30T20:33:45.145Z,1564518825.145 [DataOverHttps](INFO): Join timeout helper Thread ID is 1073
2019-07-30T20:33:45.545Z,1564518825.545 [DataOverHttps ThreadHandler](INFO): Uninitializing protected caller thread.
2019-07-30T20:33:45.545Z,1564518825.545 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2019-07-30T20:33:45.549Z,1564518825.549 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2019-07-30T20:33:45.549Z,1564518825.549 [logger ThreadHandler](INFO): Thread cancelled.
2019-07-30T20:33:45.549Z,1564518825.549 [logger](INFO): Join timeout helper Thread ID is 1074
2019-07-30T20:33:45.577Z,1564518825.577 [logger ThreadHandler](INFO): Uninitializing protected caller thread.
2019-07-30T20:33:45.577Z,1564518825.577 [logger ThreadHandler](INFO): Thread cancelled.
2019-07-30T20:33:45.590Z,1564518825.590 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2019-07-30T20:33:45.590Z,1564518825.590 [CommandLine ThreadHandler](INFO): Thread cancelled.
2019-07-30T20:33:45.590Z,1564518825.590 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2019-07-30T20:33:45.590Z,1564518825.590 [controlThread ThreadHandler](INFO): Thread cancelled.
2019-07-30T20:33:45.591Z,1564518825.591 [controlThread](INFO): Join timeout helper Thread ID is 1075
2019-07-30T20:33:45.797Z,1564518825.797 [controlThread ThreadHandler](INFO): Uninitializing protected caller thread.
2019-07-30T20:33:45.797Z,1564518825.797 [controlThread](DEBUG): Uninitializing ControlThread
2019-07-30T20:33:45.798Z,1564518825.798 [NAL9602](INFO): Powering down
2019-07-30T20:33:45.801Z,1564518825.801 [DepthRateCalculator](DEBUG): Uninitializing DepthRateCalculator.
2019-07-30T20:33:45.802Z,1564518825.802 [ElevatorOffsetCalculator](DEBUG): Uninitializing ElevatorOffsetCalculator.
2019-07-30T20:33:45.802Z,1564518825.802 [NavChart](DEBUG): Uninitialize NavChart Navigation.
2019-07-30T20:33:45.803Z,1564518825.803 [MissionManager](INFO): Uninitializing Mission Default
2019-07-30T20:33:45.803Z,1564518825.803 [Default] Stopped
2019-07-30T20:33:45.803Z,1564518825.803 [Default](DEBUG): Aggregate::uninitialize Default
2019-07-30T20:33:45.803Z,1564518825.803 [Default:B.GoToSurface] Stopped
2019-07-30T20:33:45.803Z,1564518825.803 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2019-07-30T20:33:45.803Z,1564518825.803 [Default:CheckIn] Stopped
2019-07-30T20:33:45.803Z,1564518825.803 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn
2019-07-30T20:33:45.803Z,1564518825.803 [Default:CheckIn:Read_GPS] Stopped
2019-07-30T20:33:45.806Z,1564518825.806 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2019-07-30T20:33:45.806Z,1564518825.806 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2019-07-30T20:33:45.806Z,1564518825.806 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2019-07-30T20:33:45.807Z,1564518825.807 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2019-07-30T20:33:45.807Z,1564518825.807 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2019-07-30T20:33:45.807Z,1564518825.807 [BuoyancyServo](INFO): Powering down
2019-07-30T20:33:45.937Z,1564518825.937 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2019-07-30T20:33:45.937Z,1564518825.937 [ElevatorServo](INFO): Powering down
2019-07-30T20:33:45.938Z,1564518825.938 [MassServo](DEBUG): Uninitialize Mass Servo.
2019-07-30T20:33:45.938Z,1564518825.938 [MassServo](INFO): Powering down
2019-07-30T20:33:45.939Z,1564518825.939 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2019-07-30T20:33:45.939Z,1564518825.939 [RudderServo](INFO): Powering down
2019-07-30T20:33:45.940Z,1564518825.940 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2019-07-30T20:33:45.940Z,1564518825.940 [ThrusterServo](INFO): Powering down
2019-07-30T20:33:45.941Z,1564518825.941 [SBIT](DEBUG): Uninitialize SBIT Component.
2019-07-30T20:33:45.941Z,1564518825.941 [IBIT](DEBUG): Uninitialize IBIT Component.
2019-07-30T20:33:45.942Z,1564518825.942 [CBIT](DEBUG): Uninitialize CBIT Component.
2019-07-30T20:33:45.942Z,1564518825.942 [CBIT](DEBUG): Powering off loads.
2019-07-30T20:33:45.953Z,1564518825.953 [CBIT](DEBUG): Disabling WDT.
2019-07-30T20:33:45.965Z,1564518825.965 [CBIT](DEBUG): Opening all GF detection circuits.
2019-07-30T20:33:45.965Z,1564518825.965 [controlThread ThreadHandler](INFO): Thread cancelled.
2019-07-30T20:33:46.052Z,1564518826.052 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2019-07-30T20:33:46.058Z,1564518826.058 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2019-07-30T20:33:46.126Z,1564518826.126 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2019-07-30T20:33:46.203Z,1564518826.203 [logger ThreadHandler](INFO): Thread cancelled.